Systems and methods for X-ray scanner positioning

ABSTRACT

The present disclosure relates to systems and methods for positioning an X-ray scanner. The systems may perform the methods to obtain an origin related to an X-ray scanner; determine a coordinate system based on the origin; determine coordinates of a second location of the X-ray scanner based on the origin and the coordinate system; obtain coordinates of a first location based on the origin and the coordinate system; and determine, based on the origin and the coordinates of the second location, positioning information of the X-ray scanner configured to cause the X-ray scanner to be positioned at the first location from the second location of the X-ray scanner.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/866,294, filed on May 4, 2020. Patent application Ser. No. 16/866,294is a Division of U.S. patent application Ser. No. 15/620,967 (issued asU.S. Pat. No. 10,638,985) filed on Jun. 13, 2017, which claims priorityof Chinese Patent Application No. 201610410580.0 filed on Jun. 13, 2016,Chinese Patent Application No. 201610640735.X filed on Aug. 8, 2016,Chinese Patent Application No. 201610656640.7 filed on Aug. 11, 2016,and Chinese Patent Application No. 201610816158.5 filed on Sep. 9, 2016,the entire contents of each of which are hereby incorporated byreference.

TECHNICAL FIELD

The present disclosure generally relates to an X-ray scanner, and morespecifically relates to methods and systems for X-ray scannerpositioning.

BACKGROUND

X-ray imaging is a technology that uses an X-ray scanner to scan anobject to generate an X-ray image of the object. The X-ray imagingtechnology has been widely used in medical diagnosis, radiation therapyplanning, surgery planning and other medical procedures. In existingX-ray imaging technology, there may be some problems in positioning ofthe X-ray scanner. For example, before a surgery, a doctor may determinean entry point on the surface of a patient. The existing X-ray scannermay include no equipment configured to indicate the entry point. Adoctor may usually determine the entry point manually. Therefore, it isdesirable to provide systems and methods for X-ray imaging to solve theproblems in positioning of the X-ray scanner.

SUMMARY

Additional features will be set forth in part in the description whichfollows, and in part will become apparent to those skilled in the artupon examination of the following and the accompanying drawings or maybe learned by production or operation of the examples. The features ofthe present disclosure may be realized and attained by practice or useof various aspects of the methodologies, instrumentalities andcombinations set forth in the detailed examples discussed below.

According to a first aspect of the present disclosure, an X-ray scannermay comprise an X-ray source configured to emit X-rays; a detectorconfigured to detect the X-rays that are emitted from the X-ray source,wherein the detector and the X-ray source are spaced apart by a space;an indicator configured to indicate a target position, wherein theindicator is located on a periphery of the space; and an actuatorconfigured to actuate the indicator to perform a translation, a swing,or a combination thereof, wherein the actuator is connected with theindicator.

In some embodiments, the X-ray scanner may further comprise a supporthaving a first end and a second end, wherein the X-ray source isconnected with the first end of the support, and the detector isconnected with the second end of the support.

In some embodiments, the indicator may be connected with the detector.

In some embodiments, the indicator may include a first linear laserlight and a second linear laser light.

In some embodiments, the detector may include a frame having a firstside and a second side connected with the first side, the first linearlaser light is connected with the first side of the frame, and thesecond linear laser light is connected with the second side of theframe.

In some embodiments, the first linear laser light may emit first laserrays, the second linear laser light may emit second laser rays, thefirst linear laser light and the second linear laser light may bepositioned such that the first laser rays and the second laser rays mayform an intersection indicating the target position.

In some embodiments, the indicator may further include a third linearlaser light and a fourth linear laser light.

In some embodiments, the third linear laser light may be connected withthe first side of the frame, and the fourth linear laser light may beconnected with the second side of the frame.

In some embodiments, the frame may further have a third side parallel tothe first side and a fourth side parallel to the second side, the thirdlinear laser light may be connected with the third side of the frame,and the fourth linear laser light may be connected with the fourth sideof the frame.

In some embodiments, the first linear laser light may emit first laserrays, the second linear laser light may emit second laser rays, thethird linear laser light may emit third laser rays, the fourth linearlaser light may emit fourth laser rays, the first linear laser light,the second linear laser light, the third linear laser light, and thefourth linear laser light may be positioned such that the first laserrays, the second laser rays, the third laser rays, and the fourth laserrays may define an area indicating the target position.

In some embodiments, the actuator may include a first actuating unit anda second actuating unit, the first actuating unit may be configured toactuate the first linear laser light, and the second actuating unit maybe configured to actuate the second linear laser light.

In some embodiments, the first actuating unit may include a firsttransmission, the first transmission may include at least one of a geartransmission, a chain transmission, or a belt transmission, and thefirst linear laser light may be connected with the first transmission.

In some embodiments, the first linear laser light may be connected withthe first transmission through a first translation board.

In some embodiments, the indicator may include a fifth laser light, thefifth laser light may be a point laser light or a cross laser light, andthe fifth laser light may be adjustable by the translation or the swingsuch that the fifth laser light may indicate the target position.

In some embodiments, the actuator may include a third actuating unit anda fourth actuating unit, the third actuating unit may be configured toactuate the fifth laser light to perform the translation, and the fourthactuating unit may be configured to actuate the fifth laser light toperform the swing.

In some embodiments, the third actuating unit may include a secondtransmission and a second translation board, and the second translationboard may be connected with the second transmission.

In some embodiments, the fourth actuating unit may include a thirdtransmission and a rotation board, the third transmission may include agear transmission and an electric motor, the fifth laser light may beconnected with the gear transmission, the gear transmission may beconnected with a first side of the rotation board, the electric motormay be connected with a second side of the rotation board that isopposite to the first side of the rotation board, and the rotation boardmay be connected with the second translation board.

In some embodiments, the gear transmission may include a driving gearand a driven gear, and the fifth laser light may be connected with thedriven gear.

In some embodiments, the driving gear may be connected with the rotationboard through an axis and may be rotatable around the axis, the drivengear may be connected with the rotation board through a locating pininserted in an opening on the driven gear such that the fifth laserlight may be rotatable along the opening.

In some embodiments, the X-ray scanner may further comprise arangefinder configured to determine a distance between the targetposition and the detector.

According to a second aspect of the present disclosure, a system maycomprise an X-ray scanner configured to scan an object including atarget; one or more processors; and one or more storage devicesconfigured to communicate with the one or more processors. The one ormore storage devices may include a set of instructions. When the one ormore processors executing the set of instructions, the one or moreprocessors may be directed to perform one or more of the followingoperations. The one or more processors may obtain one or more imagesrelating to the target in the object. The one or more processors maydetermine one or more image target locations corresponding to the targetbased on the one or more images. The one or more processors maydetermine a target position of the target based on the one or more imagetarget locations corresponding to the target. The one or more processorsmay determine positioning information of an indicator or an X-ray sourceof the X-ray scanner based on the target position.

According to a third aspect of the present disclosure, a method mayinclude one or more of the following operations. The one or moreprocessors may obtain one or more images relating to the target in theobject. The one or more processors may determine one or more imagetarget locations corresponding to the target based on the one or moreimages. The one or more processors may determine a target position ofthe target based on the one or more image target locations correspondingto the target. The one or more processors may determine positioninginformation of an indicator or an X-ray source of the X-ray scannerbased on the target position.

In some embodiments, the determining the target position based on theone or more image target locations corresponding to the target maycomprise determining a first segment between a first scanning locationof the X-ray scanner and a first image target location relating to afirst image, wherein the first image relates to the first scanninglocation of the X-ray scanner; determining a second segment between asecond scanning location of the X-ray scanner and a second targetlocation relating to a second image, wherein the second image relates tothe second scanning location of the X-ray scanner; and determining thetarget position based on the first segment and the second segment.

In some embodiments, the determining the target position based on thefirst segment and the second segment may comprise determining whetherthere is an intersection of the first segment and the second segment;and designating, in response to a determination that there is anintersection of the first segment and the second segment, theintersection of the first segment and the second segment as the targetposition.

In some embodiments, the determining the target position based on thefirst segment and the second segment may further comprise determining,in response to a determination that there is no intersection of thefirst segment and the second segment, a third segment between a point inthe first segment and a point in the second segment, a length of thethird segment being minimum among a plurality of segments, a segmentincluding a point in the first segment and a point in the secondsegment; and designating a point in the third segment as the targetposition.

In some embodiments, the determining the target position based on thefirst segment and the second segment may further comprise determiningthat the length of the third segment is less than or equal to athreshold.

According to a fourth aspect of the present disclosure, a system maycomprise an X-ray scanner configured to scan an object; one or moreprocessors; and one or more storage devices configured to communicatewith the one or more processors. The one or more storage devices mayinclude a set of instructions. When the one or more processors executingthe set of instructions, the one or more processors may be directed toperform one or more of the following operations. The one or moreprocessors may determine an origin of a coordinate system. The one ormore processors may determine the coordinate system based on the origin.The one or more processors may determine coordinates of a currentlocation of the X-ray scanner based on the origin and the coordinatesystem. The one or more processors may determine the positioninginformation of the X-ray scanner to be positioned at the origin from thecurrent location of the X-ray scanner based on the origin and thecoordinates of the current location.

According to a fifth aspect of the present disclosure, a method mayinclude one or more of the following operations. The one or moreprocessors may determine an origin of a coordinate system. The one ormore processors may determine the coordinate system based on the origin.The one or more processors may determine coordinates of a currentlocation of the X-ray scanner based on the origin and the coordinatesystem. The one or more processors may determine the positioninginformation of the X-ray scanner to be positioned at the origin from thecurrent location of the X-ray scanner based on the origin and thecoordinates of the current location.

According to a sixth aspect of the present disclosure, a non-transitorycomputer readable medium may comprise at least one set of instructions.The at least one set of instructions may be executed by one or moreprocessors. The one or more processors may obtain one or more imagesrelating to the target in the object. The one or more processors maydetermine one or more image target locations corresponding to the targetbased on the one or more images. The one or more processors maydetermine a target position of the target based on the one or more imagetarget locations corresponding to the target. The one or more processorsmay determine positioning information of an indicator or an X-ray sourceof the X-ray scanner based on the target position.

According to a seventh aspect of the present disclosure, anon-transitory computer readable medium may comprise at least one set ofinstructions. The at least one set of instructions may be executed byone or more processors. The one or more processors may determine anorigin of a coordinate system. The one or more processors may determinethe coordinate system based on the origin. The one or more processorsmay determine coordinates of a current location of the X-ray scannerbased on the origin and the coordinate system. The one or moreprocessors may determine the positioning information of the X-rayscanner to be positioned at the origin from the current location of theX-ray scanner based on the origin and the coordinates of the currentlocation.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is further described in terms of exemplaryembodiments. These exemplary embodiments are described in detail withreference to the drawings. These embodiments are non-limiting exemplaryembodiments, in which like reference numerals represent similarstructures throughout the several views of the drawings, and wherein:

FIG. 1 is a schematic diagram illustrating an exemplary X-ray scannerpositioning system according to some embodiments of the presentdisclosure;

FIG. 2A is a schematic diagram illustrating an exemplary X-ray scanneraccording to some embodiments of the present disclosure;

FIG. 2B is a schematic diagram illustrating an exemplary laser lightaccording to some embodiments of the present disclosure;

FIG. 3A is a schematic diagram illustrating an exemplary indicatingapparatus according to some embodiments of the present disclosure;

FIG. 3B is a schematic diagram illustrating an exemplary process foractuating an indicator according to some embodiments of the presentdisclosure;

FIG. 4 is a schematic diagram illustrating an exemplary indicatingapparatus according to some embodiments of the present disclosure;

FIG. 5A is schematic diagram illustrating perspective views of anexemplary indicating apparatus according to some embodiments of thepresent disclosure;

FIG. 5B is a schematic diagram illustrating an exemplary detectoraccording to some embodiments of the present disclosure;

FIG. 6 is a schematic diagram illustrating an exemplary indicatingapparatus according to some embodiments of the present disclosure;

FIG. 7 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary computing device on which aprocessing engine may be implemented according to some embodiments ofthe present disclosure;

FIG. 8 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary mobile device on which one or moreterminals may be implemented according to some embodiments of thepresent disclosure;

FIG. 9 is a schematic block diagram illustrating an exemplary processingengine according to some embodiments of the present disclosure;

FIG. 10 is a flowchart illustrating an exemplary process for determiningpositioning information of an indicator or an X-ray source of an X-rayscanner according to some embodiments of the present disclosure;

FIG. 11 is a flowchart illustrating an exemplary process for determiningpositioning information of an indicator of an X-ray scanner according tosome embodiments of the present disclosure;

FIGS. 12 through 15 are schematic diagrams illustrating exemplaryprocesses for determining a target position of a target according tosome embodiments of the present disclosure;

FIG. 16 is a schematic diagram illustrating an isocentric rotation of anX-ray scanner according to some embodiments of the present disclosure;

FIG. 17 is a schematic diagram illustrating a non-isocentric rotation ofan X-ray scanner according to some embodiments of the presentdisclosure;

FIG. 18 is a flowchart illustrating an exemplary process for determiningpositioning information of an X-ray source of an X-ray scanner accordingto some embodiments of the present disclosure;

FIG. 19 is a flowchart illustrating an exemplary process for determininga target position of a target according to some embodiments of thepresent disclosure;

FIG. 20A is a schematic diagram illustrating an example for determininga target position of a target according to some embodiments of thepresent disclosure;

FIG. 20B is a schematic diagram illustrating an example for determiningpositioning information of an X-ray source according to some embodimentsof the present disclosure;

FIGS. 21, 22A, and 22B are schematic diagrams illustrating examples fordetermining a target position of a target according to some embodimentsof the present disclosure; and

FIG. 23 is a flowchart illustrating an exemplary process for determiningpositioning information of an X-ray scanner according to someembodiments of the present disclosure.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are setforth by way of examples in order to provide a thorough understanding ofthe relevant disclosure. However, it should be apparent to those skilledin the art that the present disclosure may be practiced without suchdetails. In other instances, well-known methods, procedures, systems,components, and/or circuitry have been described at a relativelyhigh-level, without detail, in order to avoid unnecessarily obscuringaspects of the present disclosure. Various modifications to thedisclosed embodiments will be readily apparent to those skilled in theart, and the general principles defined herein may be applied to otherembodiments and applications without departing from the spirit and scopeof the present disclosure. Thus, the present disclosure is not limitedto the embodiments shown, but to be accorded the widest scope consistentwith the claims.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting. As usedherein, the singular forms “a,” “an,” and “the” may be intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprise,”“comprises,” and/or “comprising,” “include,” “includes,” and/or“including,” when used in this specification, specify the presence ofstated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

It will be understood that the term “system,” “engine,” “unit,”“module,” and/or “block” used herein are one method to distinguishdifferent components, elements, parts, section or assembly of differentlevel in ascending order. However, the terms may be displaced by otherexpression if they achieve the same purpose.

Generally, the word “module,” “unit,” or “block,” as used herein, refersto logic embodied in hardware or firmware, or to a collection ofsoftware instructions. A module, a unit, or a block described herein maybe implemented as software and/or hardware and may be stored in any typeof non-transitory computer-readable medium or other storage device. Insome embodiments, a software module/unit/block may be compiled andlinked into an executable program. It will be appreciated that softwaremodules can be callable from other modules/units/blocks or fromthemselves, and/or may be invoked in response to detected events orinterrupts. Software modules/units/blocks configured for execution oncomputing devices (e.g., the processor 710 as illustrated in FIG. 7 )may be provided on a computer-readable medium, such as a compact disc, adigital video disc, a flash drive, a magnetic disc, or any othertangible medium, or as a digital download (and can be originally storedin a compressed or installable format that needs installation,decompression, or decryption prior to execution). Such software code maybe stored, partially or fully, on a storage device of the executingcomputing device, for execution by the computing device. Softwareinstructions may be embedded in a firmware, such as an EPROM. It will befurther appreciated that hardware modules/units/blocks may be includedin connected logic components, such as gates and flip-flops, and/or canbe included of programmable units, such as programmable gate arrays orprocessors. The modules/units/blocks or computing device functionalitydescribed herein may be implemented as software modules/units/blocks,but may be represented in hardware or firmware. In general, themodules/units/blocks described herein refer to logicalmodules/units/blocks that may be combined with othermodules/units/blocks or divided into sub-modules/sub-units/sub-blocksdespite their physical organization or storage. The description may beapplicable to a system, an engine, or a portion thereof.

It will be understood that when a unit, engine, module or block isreferred to as being “on,” “connected to,” or “coupled to,” anotherunit, engine, module, or block, it may be directly on, connected orcoupled to, or communicate with the other unit, engine, module, orblock, or an intervening unit, engine, module, or block may be present,unless the context clearly indicates otherwise. As used herein, the term“and/or” includes any and all combinations of one or more of theassociated listed items.

These and other features, and characteristics of the present disclosure,as well as the methods of operation and functions of the relatedelements of structure and the combination of parts and economies ofmanufacture, may become more apparent upon consideration of thefollowing description with reference to the accompanying drawings, allof which form a part of this disclosure. It is to be expresslyunderstood, however, that the drawings are for the purpose ofillustration and description only and are not intended to limit thescope of the present disclosure. It is understood that the drawings arenot to scale.

Provided herein are systems and components for medical imaging. In someembodiments, the imaging system may include a single modality imagingsystem and/or a multi-modality imaging system. The single modalityimaging system may include, for example, an X-ray scanner positioningsystem, an emission computed tomography (ECT) system, a magneticresonance imaging (MRI) system, an ultrasonography system, a positronemission tomography (PET) system, or the like, or any combinationthereof. The multi-modality imaging system may include, for example, aX-ray imaging-magnetic resonance imaging (X-ray-MRI) system, a positronemission tomography-X-ray imaging (PET-X-ray) system, a single photonemission computed tomography-magnetic resonance imaging (SPECT-MRI)system, a digital subtraction angiography-magnetic resonance imaging(DSA-MRI) system, etc.

For illustration purposes, the disclosure describes systems and methodsrelating to X-ray scanner. It should be noted that the X-ray scannerpositioning system 100 described below is merely provided forillustration purposes, and not intended to limit the scope of thepresent disclosure.

FIG. 1 is a schematic diagram illustrating an exemplary X-ray scannerpositioning system 100 according to some embodiments of the presentdisclosure. As shown in FIG. 1 , the X-ray scanner positioning system100 may include an X-ray scanner 110, a network 120, one or moreterminals 130, a processing engine 140, and a storage device 150. Theconnection between the components in the X-ray scanner positioningsystem 100 may be variable. For example, the X-ray scanner 110 and/orthe terminal(s) 130 may be connected to the processing engine 140through the network 120. As another example, the X-ray scanner 110and/or the terminal(s) 130 may be connected to the processing engine 140directly.

The X-ray scanner 110 may be configured to scan an object using X-raysand generate imaging data used to generate one or more images relatingto the object. In some embodiments, the X-ray scanner 110 may transmitthe imaging data to the processing engine 140 for further processing(e.g., generating one or more images). In some embodiments, the imagingdata and/or the one or more images associated with the object may bestored in the storage device 150 and/or the processing engine 140.

In some embodiments, the X-ray scanner 110 may include a C-arm X-rayscanner, a computed tomography (CT) scanner, a digital radiography (DR)scanner, a digital substraction angiography (DSA) scanner, a dynamicspatial reconstructor (DSR) scanner, an X-ray microscopy scanner, amulti-modality scanner, or the like, or a combination thereof. Exemplarymulti-modality scanners may include a computed tomography-positronemission tomography (CT-PET) scanner, a computed tomography-magneticresonance imaging (CT-MRI) scanner, etc. The object may be biological ornon-biological. Merely by way of example, the object may include apatient, a man-made object, etc. As another example, the object mayinclude a specific portion, organ, and/or tissue of a patient. Forexample, the object may include head, brain, neck, body, shoulder, arm,thorax, cardiac, stomach, blood vessel, soft tissue, knee, feet, or thelike, or any combination thereof.

The network 120 may include any suitable network that can facilitateexchange of information and/or data for the X-ray scanner positioningsystem 100. In some embodiments, one or more components of the X-rayscanner positioning system 100 (e.g., the X-ray scanner 110, theterminal(s) 130, the processing engine 140, the storage device 150,etc.) may communicate information and/or data with one or more othercomponents of the X-ray scanner positioning system 100 via the network120. For example, the processing engine 140 may obtain image data fromthe X-ray scanner 110 via the network 120. As another example, theprocessing engine 140 may obtain user instructions from the terminal(s)130 via the network 120. The network 120 may be and/or include a publicnetwork (e.g., the Internet), a private network (e.g., a local areanetwork (LAN), a wide area network (WAN)), etc.), a wired network (e.g.,an Ethernet network), a wireless network (e.g., an 802.11 network, aWi-Fi network, etc.), a cellular network (e.g., a Long Term Evolution(LTE) network), a frame relay network, a virtual private network (VPN),a satellite network, a telephone network, routers, hubs, witches, servercomputers, and/or any combination thereof. Merely by way of example, thenetwork 120 may include a cable network, a wireline network, afiber-optic network, a telecommunications network, an intranet, awireless local area network (WLAN), a metropolitan area network (MAN), apublic telephone switched network (PSTN), a Bluetooth™ network, aZigBee™ network, a near field communication (NFC) network, or the like,or any combination thereof. In some embodiments, the network 120 mayinclude one or more network access points. For example, the network 120may include wired and/or wireless network access points such as basestations and/or internet exchange points through which one or morecomponents of the X-ray scanner positioning system 100 may be connectedto the network 120 to exchange data and/or information.

The terminal(s) 130 may include a mobile device 131, a tablet computer132, a laptop computer 133, or the like, or any combination thereof. Insome embodiments, the mobile device 131 may include a smart home device,a wearable device, a mobile device, a virtual reality device, anaugmented reality device, or the like, or any combination thereof. Insome embodiments, the smart home device may include a smart lightingdevice, a control device of an intelligent electrical apparatus, a smartmonitoring device, a smart television, a smart video camera, aninterphone, or the like, or any combination thereof. In someembodiments, the wearable device may include a bracelet, a footgear,eyeglasses, a helmet, a watch, clothing, a backpack, a smart accessory,or the like, or any combination thereof. In some embodiments, the mobiledevice may include a mobile phone, a personal digital assistance (PDA),a gaming device, a navigation device, a point of sale (POS) device, alaptop, a tablet computer, a desktop, a virtual reality device, or thelike, or any combination thereof. In some embodiments, the virtualreality device and/or the augmented reality device may include a virtualreality helmet, virtual reality glasses, a virtual reality patch, anaugmented reality helmet, augmented reality glasses, an augmentedreality patch, or the like, or any combination thereof. For example, thevirtual reality device and/or the augmented reality device may include aGoogle Glass™, an Oculus Rift™, a Hololens™, a Gear VR™, etc. In someembodiments, the terminal(s) 130 may be part of the processing engine140.

The processing engine 140 may process data and/or information obtainedfrom the X-ray scanner 110, the terminal(s) 130, and/or the storagedevice 150. For example, the processing engine 140 may process imagingdata generated by the X-ray scanner 110 to generate an image. As anotherexample, the processing engine 140 may determine positioning informationof the X-ray scanner 110. In some embodiments, the processing engine 140may be a single server or a server group. The server group may becentralized or distributed. In some embodiments, the processing engine140 may be local or remote. For example, the processing engine 140 mayaccess information and/or data stored in the X-ray scanner 110, theterminal(s) 130, and/or the storage device 150 via the network 120. Asanother example, the processing engine 140 may be directly connected tothe X-ray scanner 110, the terminal(s) 130 and/or the storage device 150to access stored information and/or data. In some embodiments, theprocessing engine 140 may be implemented on a cloud platform. Merely byway of example, the cloud platform may include a private cloud, a publiccloud, a hybrid cloud, a community cloud, a distributed cloud, aninter-cloud, a multi-cloud, or the like, or any combination thereof. Insome embodiments, the processing engine 140 may be implemented by acomputing device 700 having one or more components as illustrated inFIG. 7 .

The storage device 150 may store data, instructions, and/or any otherinformation. In some embodiments, the storage device 150 may store dataobtained from the terminal(s) 130 and/or the processing engine 140. Insome embodiments, the storage device 150 may store data and/orinstructions that the processing engine 140 may execute or use toperform exemplary methods described in the present disclosure. In someembodiments, the storage device 150 may include a mass storage, aremovable storage, a volatile read-and-write memory, a read-only memory(ROM), or the like, or any combination thereof. Exemplary mass storagemay include a magnetic disk, an optical disk, a solid-state drive, etc.Exemplary removable storage may include a flash drive, a floppy disk, anoptical disk, a memory card, a zip disk, a magnetic tape, etc. Exemplaryvolatile read-and-write memory may include a random access memory (RAM).Exemplary RAM may include a dynamic RAM (DRAM), a double date ratesynchronous dynamic RAM (DDR SDRAM), a static RAM (SRAM), a thyristorRAM (T-RAM), and a zero-capacitor RAM (Z-RAM), etc. Exemplary ROM mayinclude a mask ROM (MROM), a programmable ROM (PROM), an erasableprogrammable ROM (EPROM), an electrically erasable programmable ROM(EEPROM), a compact disk ROM (CD-ROM), and a digital versatile disk ROM,etc. In some embodiments, the storage device 150 may be implemented on acloud platform. Merely by way of example, the cloud platform may includea private cloud, a public cloud, a hybrid cloud, a community cloud, adistributed cloud, an inter-cloud, a multi-cloud, or the like, or anycombination thereof.

In some embodiments, the storage device 150 may be connected to thenetwork 120 to communicate with one or more other components in theX-ray scanner positioning system 100 (e.g., the processing engine 140,the terminal(s) 130, etc.). One or more components in the X-ray scannerpositioning system 100 may access the data or instructions stored in thestorage device 150 via the network 120. In some embodiments, the storagedevice 150 may be directly connected to or communicate with one or moreother components in the X-ray scanner positioning system 100 (e.g., theprocessing engine 140, the terminal(s) 130, etc.). In some embodiments,the storage device 150 may be part of the processing engine 140.

This description is intended to be illustrative, and not to limit thescope of the present disclosure. Many alternatives, modifications, andvariations will be apparent to those skilled in the art. The features,structures, methods, and other characteristics of the exemplaryembodiments described herein may be combined in various ways to obtainadditional and/or alternative exemplary embodiments. For example, thestorage device 150 may be a data storage including cloud computingplatforms, such as, a public cloud, a private cloud, a community andhybrid cloud, etc. As another example, the processing engine 140 and theX-ray scanner 110 may be integrated into one single device. However,those variations and modifications do not depart the scope of thepresent disclosure.

FIG. 2A is a schematic diagram illustrating an exemplary X-ray scanner110 according to some embodiments of the present disclosure. As shown inFIG. 2A, the X-ray scanner 110 may include a support 10, a detector 20,and an X-ray source 30. The support 10 may be configured to support theX-ray source 30 and the detector 20. In some embodiments, the support 10may have an O-shape, a U-shape, a G-shape, a C-shape, or the like, or acombination thereof. In some embodiments, the X-ray source 30 and thedetector 20 may be connected with the support 10. For example, thesupport 10 of a C-shape, a U-shape, a G-shape, etc., may have a firstend and a second end. The first end may be connected to the X-ray source30, and the second end may be connected to the detector 20. As anotherexample, for the support 10 of an O-shape, the X-ray source 30 and theX-ray source 30 may be attached to the support 10, and spaced from eachother. For instance, the detector 20 may be opposite to the X-ray source30, and a line linking the detector 20 and the X-ray source 30 may passthrough the center of the O-shape. In some embodiments, the detector 20and the X-ray source 30 may be spaced apart by a space. The space may beconfigured to accommodate an object. In some embodiments, the detector20 and the X-ray source 30 may move with the support 10. For example,the detector 20 and the X-ray source 30 may translate with the support10 using a moveable device (e.g., a trolley, or wheels) mounted on theX-ray scanner 110. As another example, the detector 20 and the X-raysource 30 may rotate with the support 10 along an axis that passesthrough the center of the support 10 and is parallel to the X axis inFIG. 2A. As still another example, the detector 20 and the X-ray source30 may rotate with the support 10 along an axis that passes through thecenter of the support 10 and is parallel to the Z axis in FIG. 2A. Asstill another example, the detector 20 and the X-ray source 30 mayrotate with the support 10 along an axis that passes through the centerof the support 10 and is parallel to the Y axis in FIG. 2A. In someembodiments, while the detector 20 and the X-ray source 30 move with thesupport 10, the position of the detector 20 may remain the same relativeto the position of the X-ray source 30. In some embodiments, the X-raysource 30 may move relative to the detector 20. For instance, the X-raysource 30 may rotate relative to the detector 20, while the position ofthe X-ray source 30 remains the same relative to position of thedetector 20.

The X-ray source 30 may emit one or more X-rays traveling toward theobject. In some embodiments, the X-ray source 30 may include a tube,such as a cold cathode ion tube, a high vacuum hot cathode tube, arotating anode tube, etc. The tube may be powered by a high voltagegenerator, emitting X-rays that may be detected by the detector 20. TheX-rays emitted by the X-ray source 30 may be guided to form a beamhaving the shape of a line, a narrow pencil, a narrow fan, a fan, acone, a wedge, an irregular shape, or the like, or a combinationthereof.

The detector 20 may detect X-rays emitted from the X-ray source 30. Insome embodiments, the detector 20 may convert the detected X-rays intoelectric signals. The detector 20 may include one or more detector unitspositioned to form a structure including a plurality of pixels and/orchannels. For instance, the detector units positioned to form an arcuatestructure. The pixels and/or channels may be arranged in a single row,two rows, or another number of rows. The pixels and/or channels maydetect the X-rays to generate electric signals. For example, a pixeland/or channel may include a scintillator layer that may absorb X-rays,and emit a visible light that can be detected by a photodiode. Thephotodiode may convert the visible light into an electrical signal. Insome embodiments, the detected X-rays may be converted directly into anelectrical signal by a suitable direct conversion material, such asamorphous selenium. An analog/digital converter in the X-ray scanner 110may convert the electric signals into digital signals that may bereferred to as imaging data. The detector 20 may have any suitableshape. For example, the detector 20 may have the shape of an arc, acircle, a rectangle, or the like, or a combination thereof. In someembodiments, the detector 20 may be and/or include a film-baseddetector.

The X-ray scanner 110 may include a portable X-ray scanner, a suspensionX-ray scanner, a floor X-ray scanner, etc. The portable X-ray scannermay refer to an X-ray scanner that is movable on the ground. In someembodiments, the portable X-ray scanner may be mounted on a moveabledevice (e.g., a trolley, or wheels). The portable X-ray scanner may bemoved by moving the movable device manually or by a driving device(e.g., a vehicle). The suspension X-ray scanner may refer to an X-rayscanner that is connected to a guide rail mounted on, for example, aceiling, and the suspension X-ray scanner may be moved along the guiderail driven manually or by a driving device. The floor X-ray scanner mayrefer to an X-ray scanner that is fixed on, for example, a bracket onthe floor, or fixed on the floor directly.

In some embodiments, the X-ray scanner 110 may further include one ormore rangefinders configured to determine a distance between two points.For example, a rangefinder may determine a distance between the objectand the detector 20. In some embodiments, the rangefinder(s) may beconnected with the detector 20 and/or the X-ray source 30. In someembodiments, a rangefinder may include one or more sensors, for example,a placement sensor, a speed sensor, an accelerometer, or the like, or acombination thereof.

This description is intended to be illustrative, and not to limit thescope of the present disclosure. Many alternatives, modifications, andvariations will be apparent to those skilled in the art. The features,structures, methods, and other characteristics of the exemplaryembodiments described herein may be combined in various ways to obtainadditional and/or alternative exemplary embodiments. However, thosevariations and modifications do not depart the scope of the presentdisclosure. For example, the X-ray scanner 110 may include one or moreconnectors and/or fixing members configured to connect the detector 20and/or the X-ray source 30 with the support 10.

In some embodiments, the X-ray scanner 110 may further include anindicating apparatus. The indicating apparatus may include an indicatorand an actuator. The indicator may be configured to indicate a location(e.g., a location on the surface of an object, or the target position ofa target described in FIGS. 11-15 ). In some embodiments, the indicatormay be located on the support 10 directly or a periphery of the spacebetween the X-ray source 30 and the detector 20. In some embodiments,the indicator may be mounted on the upper end of the support 10 directlyor the detector 20 (or the X-ray source 30). For example, if thedetector 20 is located at the upper of the support 10, the indicator maybe mounted on the detector 20. If the X-ray source 30 is located at theupper of the support 10, the indicator may be mounted on the X-raysource 30. In some embodiments, the indicator may include one or morelaser lights.

The actuator may be configured to actuate the indicator to undergo atranslation and/or a swing. The actuator may be connected with theindicator. In some embodiments, the actuator may actuate the indicatorthrough one or more gears, one or more belts, one or more chains, or thelike, or a combination thereof.

FIG. 2B is a schematic diagram illustrating an exemplary laser lightaccording to some embodiments of the present disclosure. As shown, thelaser light may include a laser source 2111 and a light modulator 2112.The laser source 2111 may emit one or more laser rays. The laser source2111 may include a solid laser source, a gas laser source, asemiconductor laser source, a liquid laser source, or the like, or acombination thereof. The light modulator 2112 may be configured toadjust one or more parameters of the laser rays, such as a shape, acolor, a brightness, etc. For example, the light modulator 2112 may beconfigured with one or more holes of various shapes, such as circle,cross, rectangle, etc. The light modulator 2112 may be rotatable (e.g.,the light modulator 2112 may rotate along a direction from “a” to “b” asshown in FIG. 2B) such that laser rays emitted from the laser source2111 may be emitted from a hole of a specific shape. In someembodiments, the laser light may include a linear laser light, a pointlaser light, a cross laser light, etc.

FIG. 3A is a schematic diagram illustrating an exemplary indicatingapparatus 300 according to some embodiments of the present disclosure.As shown in FIG. 3A, the indicator may be mounted on the detector 20.The detector 20 may be connected with the support 10 by a connector 28.The connector 28 may be of an L-shape. The detector 20 may include aframe 201 including a first side 202 and a second side 204 adjoining thefirst side 202. In some embodiments, the frame illustrated in FIG. 3Amay include a right-angle frame, a rectangle frame, etc.

The indicator of the indicating apparatus 300 may include two laserlights, a first laser light 211 and a second laser light 221. The firstlaser light 211 and the second laser light 221 may be linear laserlights. In some embodiments, the first laser light 211 may be mounted onthe first side 202 of the frame 201 and the second laser light 221 maybe mounted on the second side 204 of the frame 201. The first laserlight 211 may emit first laser rays parallel to the second side 204 ofthe frame 201 (also indicate by the X-axis direction as shown in FIG.3A) and the second laser light 221 may emit second laser rays parallelto the first side 202 of the frame 201 (also indicated by the Y-axisdirection as shown in FIG. 3A). In some embodiments, the first laserlight 211 and the second laser light 221 may be positioned such that thefirst laser rays and the second laser rays may form an intersectionindicating a location (e.g., the target position of a target that isdescried in detail in connection with FIGS. 11-13 ).

The actuator of the indicating apparatus 300 may include a firstactuating unit and a second actuating unit. The first laser light 211may be driven by the first actuating unit and the second laser light 211may be driven by the second actuating unit. For example, as shown inFIG. 3B, the first actuating unit may actuate the first laser light 211to perform a translation along the first side of the frame (alsoindicated as the Y-axis direction). The second actuating unit mayactuate the second laser light 221 to perform a translation along thesecond side of the frame (also indicated as the X-axis direction).

For illustration purposes, the first actuating unit may be described asan example. The first laser light 211 may be connected with the firstactuating unit. The first actuation unit may include a firsttransmission. The first transmission may include a gear transmission, achain transmission, a belt transmission, or the like, or a combinationthereof. For illustration purposes, the belt transmission may bedescribed as an example. The belt transmission may include a drivingwheel 215, a belt 216, and a driven wheel 217. The belt 216 may connectthe driving wheel 215 with the driven wheel 217. The driven wheel 217may rotate driven by the driving wheel 215 via the belt 216. The secondtransmission may be similar to the first transmission. As illustrated inFIG. 3A, the components 225, 226, and 227 of the second transmission aresimilar to the components of 215, 216, and 217 of the firsttransmission.

The first laser light 211 may be connected with the belt 216 such thatthe first laser light 211 may translate with the belt 216. In someembodiments, the first laser light 211 may be mounted on a firsttranslation board 213 by a connector, such as a screw, a rivet, a pin,etc. Further, the first laser light 211 may be mounted on the firsttranslation board 213 through a fixing member 212. The fixing member 212may be connected with the first translation board 213 by a connector,such as a screw, a rivet, a pin, etc. The first translation board 213may be connected with the belt 216. Further, the first translation board213 may be connected with the belt 216 through a first bearing plate214. The first bearing plate 214 may be configured to adjust a distancebetween the first translation board 213 and the belt 216. In someembodiments, the second actuating unit may be same as or different tothe first actuating unit. In some embodiments, the connection methodbetween the second actuating unit and the second laser light may be sameas or different to the connection method between the first actuatingunit and the first d laser light.

In some embodiments, a rangefinder 29 may be mounted on the detector 20.

FIG. 3B is similar to FIG. 3A. As illustrated in FIG. 3B, the firstlaser light 211 may translate forward and backward along the directionof the Y axis as illustrated by the arrow e, and the second laser light221 may translate forward and backward along the direction of the X axisas illustrated by the arrow f.

FIG. 4 is a schematic diagram illustrating an exemplary indicatingapparatus 400 according to some embodiments of the present disclosure.As shown in FIG. 4 , a difference between the indicator of theindicating apparatus 400 and the indicator of the indicating apparatus300 is that the indicator of the indicating apparatus 400 may furtherinclude a third laser light 231 and a fourth laser light 241. In someembodiments, the third laser light 231 and the fourth laser light 241may be linear laser lights. In some embodiments, the third laser light231 may be mounted on the first side 202 of the frame 201 of thedetector 20 and the fourth laser light 241 may be mounted on the secondside 204 of the frame 201 of the detector 20.

In some embodiments, the frame 201 (e.g., a rectangle frame) may furtherinclude a third side 206 parallel to the first side 202 and a fourthside 208 parallel to the second side 204. The third laser light 231 maybe mounted on the third side 206 of the frame of the detector 20 and thefourth laser light 241 may be mounted on the fourth side 208 of theframe of the detector 20.

The third laser light 231 may emit third laser rays parallel to thesecond side 204 of the frame 201 (also indicated by the X-axis directionas shown in FIG. 4 ) and the fourth laser light 241 may emit fourthlaser rays parallel to the first side 202 of the frame 201 (alsoindicated by the Y-axis direction as shown in FIG. 4 ). In someembodiments, the first laser light 211, the second laser light 221, thethird laser light 231, and the fourth laser light 241 may be positionedsuch that the first laser rays, the second laser rays, the third laserrays, and the fourth laser rays may define an area indicating a location(e.g., the target position of a target that is descried in detail inconnection with FIG. 11 and/or FIG. 14 ).

In some embodiments, a difference between the actuator of the indicatingapparatus 400 and the actuator of the indicating apparatus 300 is thatthe actuator of the indicating apparatus 400 may further include a thirdactuating unit and a fourth actuating unit. The third actuating unit mayactuate the third laser light 231 to perform a translation along theY-axis direction illustrated in FIG. 4 . The fourth actuating unit mayactuate the fourth laser light 241 to perform a translation along theX-axis direction illustrated in FIG. 4 .

In some embodiments, the third actuating unit (or the fourth actuatingunit) may be same as or different to the first actuating unit. The thirdactuating unit may include a third transmission. The third transmissionmay be similar to the first transmission. As illustrated in FIG. 4 , thecomponents 235, 236, and 237 of the third transmission are similar tothe components of 215, 216, and 217 of the first transmission. Thefourth actuating unit may include a fourth transmission. The fourthtransmission may be similar to the first transmission. As illustrated inFIG. 4 , the components 245, 246, and 247 of the third transmission aresimilar to the components of 215, 216, and 217 of the firsttransmission.

In some embodiments, the connection method between the third actuatingunit (or the fourth actuating unit) and the third laser light (or thefourth laser light) may be same as or different to the connection methodbetween the first actuating unit and the first laser light.

FIGS. 5A-5B are schematic diagrams illustrating three perspective viewsof an exemplary indicating apparatus 500 according to some embodimentsof the present disclosure. As shown in FIG. 5A, the indicator of theindicating apparatus 500 may include a fifth laser light 251. The fifthlaser light 251 may include a cross laser light, a point laser light,etc.

In some embodiments, the actuator of the indicating apparatus 500 mayinclude a fifth actuating unit configured to actuate the fifth laserlight 251 to move along a first direction, and a sixth actuating unitconfigured to actuate the fifth laser light 251 to move along a seconddirection. For example, the fifth actuating unit may actuate the fifthlaser light 251 to perform a translation. The sixth actuating unit mayactuate the fifth laser light 251 to perform a swing. The fifthactuating unit may be connected with the sixth actuating unit.

The fifth actuating unit may include a fifth transmission and a secondtranslation board 253. The fifth transmission may include a geartransmission, a chain transmission, a belt transmission, or the like, ora combination thereof. For illustration purposes, the fifth transmissionmay be similar to the first transmission. As illustrated in FIG. 5B, thecomponents 255, 256, and 257 of the fifth transmission are similar tothe components of 215, 216, and 217 of the first transmission. Thesecond translation board 253 may be connected with the fifthtransmission. Further, the second translation board 253 may be connectedwith the fifth transmission through a second bearing plate 254. Thesecond bearing plate 254 may be configured to adjust a distance betweenthe second translation board 253 and the fifth transmission.

The sixth actuating unit may include a sixth transmission and a rotationboard 258. The sixth transmission may include an electric motor 259 anda gear transmission. The fifth laser light 251 may be connected with thegear transmission. The gear transmission may be connected with a firstside of the rotation board 258, and the electric motor 259 may beconnected with a second side of the rotation board 258 that is oppositeto the first side of the rotation board 258. The rotation board 258 maybe connected with the second translation board 253.

The gear transmission may include a driving rod 2910, a driving gear2911, and a driven gear 2912. The electric motor 259 may be configuredto actuate the driving rod 2910 to rotate. The driving rod 2910 may passthrough the rotation board 258 and the driving gear 2911, and beconnected with the electric motor 259. The driving gear 2911 may beactuated to rotate by the driving rod 2910. The driven gear 2912 may becoupled with the driving gear 2911 such that the driven gear 2912 may beactuated to rotate by the driving gear 2911. In some embodiments, thedriven gear 2912 may be configured to be in various shapes, for example,circular, flabellate, etc.

The fifth laser light 251 may be mounted on the driven gear 2912. Insome embodiments, the fifth laser light 251 may be coupled to drivengear 2912 through a fixing member 252. The fixing member 252 may be aone-piece structure, or a multi-piece structure (e.g., a two-piecestructure as illustrated in FIG. 5A). The fixing member 252 may beconnected with the driven gear 2912 by a connector, such as a screw, arivet, a pin, or the like, or a combination thereof. In someembodiments, the fifth laser light 251 may swing with the driven gear2912.

For the purposes of illustration, the indicating apparatus 500 may bemounted on one side of the detector 20 (e.g., one side parallel to the Yaxis shown in FIG. 5B). The fifth actuating unit may actuate the fifthlaser light 251 to translate along the Y-axis direction shown in FIG.5B. The sixth actuating unit may actuate the fifth laser light 251 toswing about the Z-axis direction shown in FIG. 5B.

FIG. 6 is a schematic diagram illustrating an exemplary indicatingapparatus 600 according to some embodiments of the present disclosure.The indicating apparatus 600 illustrated in FIG. 6 is similar to theindicating apparatus 500 as illustrated in FIG. 5A and FIG. 5B exceptfor a few features. As shown in FIG. 6 , the gear transmission of thesixth actuating unit may further include a locating pin 2913. Thelocating pin 2913 may be mounted on the rotation board 258. The locatingpin 2913 may be inserted in an opening 2914 on the driven gear 2912. Insome embodiments, the opening 2914 may be configured in, for example, anarc shape. The opening 2914 may be configured to define a swing path ofthe driven gear 2912 such that the fifth laser light may swing along theopening.

FIG. 7 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary computing device 700 on which theprocessing engine 140 may be implemented according to some embodimentsof the present disclosure. As illustrated in FIG. 7 , the computingdevice 700 may include a processor 710, a storage 720, an input/output(I/O) 730, and a communication port 740.

The processor 710 may execute computer instructions (e.g., program code)and perform functions of the processing engine 140 in accordance withtechniques described herein. The computer instructions may include, forexample, routines, programs, objects, components, data structures,procedures, modules, and functions, which perform particular functionsdescribed herein. For example, the processor 710 may process imagingdata obtained from the X-ray scanner 110, the terminal(s) 130, thestorage device 150, and/or any other component of the X-ray scannerpositioning system 100. In some embodiments, the processor 710 mayinclude one or more hardware processors, such as a microcontroller, amicroprocessor, a reduced instruction set computer (RISC), anapplication specific integrated circuits (ASICs), anapplication-specific instruction-set processor (ASIP), a centralprocessing unit (CPU), a graphics processing unit (GPU), a physicsprocessing unit (PPU), a microcontroller unit, a digital signalprocessor (DSP), a field programmable gate array (FPGA), an advancedRISC machine (ARM), a programmable logic device (PLD), any circuit orprocessor capable of executing one or more functions, or the like, orany combinations thereof.

Merely for illustration, only one processor is described in thecomputing device 700. However, it should be noted that the computingdevice 700 in the present disclosure may also include multipleprocessors, thus operations and/or method steps that are performed byone processor as described in the present disclosure may also be jointlyor separately performed by the multiple processors. For example, if inthe present disclosure the processor of the computing device 700executes both operation A and operation B, it should be understood thatoperation A and operation B may also be performed by two or moredifferent processors jointly or separately in the computing device 700(e.g., a first processor executes operation A and a second processorexecutes operation B, or the first and second processors jointly executeoperations A and B).

The storage 720 may store data/information obtained from the X-rayscanner 110, the terminal(s) 130, the storage device 150, and/or anyother component of the X-ray scanner positioning system 100. In someembodiments, the storage 720 may include a mass storage, a removablestorage, a volatile read-and-write memory, a read-only memory (ROM), orthe like, or any combination thereof. For example, the mass storage mayinclude a magnetic disk, an optical disk, a solid-state drives, etc. Theremovable storage may include a flash drive, a floppy disk, an opticaldisk, a memory card, a zip disk, a magnetic tape, etc. The volatileread-and-write memory may include a random access memory (RAM). The RAMmay include a dynamic RAM (DRAM), a double date rate synchronous dynamicRAM (DDR SDRAM), a static RAM (SRAM), a thyristor RAM (T-RAM), and azero-capacitor RAM (Z-RAM), etc. The ROM may include a mask ROM (MROM),a programmable ROM (PROM), an erasable programmable ROM (EPROM), anelectrically erasable programmable ROM (EEPROM), a compact disk ROM(CD-ROM), and a digital versatile disk ROM, etc. In some embodiments,the storage 720 may store one or more programs and/or instructions toperform exemplary methods described in the present disclosure. Forexample, the storage 720 may store a program for the processing engine140 for determining positioning information of the X-ray scanner 110.

The I/O 730 may input and/or output signals, data, information, etc. Insome embodiments, the I/O 730 may allow a user interaction with theprocessing engine 140. In some embodiments, the I/O 730 may include aninput device and an output device. Examples of the input device mayinclude a keyboard, a mouse, a touch screen, a microphone, or the like,or a combination thereof. Examples of the output device may include adisplay device, a loudspeaker, a printer, a projector, or the like, or acombination thereof. Examples of the display device may include a liquidcrystal display (LCD), a light-emitting diode (LED)-based display, aflat panel display, a curved screen, a television device, a cathode raytube (CRT), a touch screen, or the like, or a combination thereof.

The communication port 740 may be connected to a network (e.g., thenetwork 120) to facilitate data communications. The communication port740 may establish connections between the processing engine 140 and theX-ray scanner 110, the terminal(s) 130, and/or the storage device 150.The connection may be a wired connection, a wireless connection, anyother communication connection that can enable data transmission and/orreception, and/or any combination of these connections. The wiredconnection may include, for example, an electrical cable, an opticalcable, a telephone wire, or the like, or any combination thereof. Thewireless connection may include, for example, a Bluetooth™ link, aWi-Fi™ link, a WiMax™ link, a WLAN link, a ZigBee link, a mobile networklink (e.g., 3G, 4G, 5G, etc.), or the like, or a combination thereof. Insome embodiments, the communication port 740 may be and/or include astandardized communication port, such as RS232, RS485, etc. In someembodiments, the communication port 740 may be a specially designedcommunication port. For example, the communication port 740 may bedesigned in accordance with the digital imaging and communications inmedicine (DICOM) protocol.

FIG. 8 is a schematic diagram illustrating exemplary hardware and/orsoftware components of an exemplary mobile device 800 on which theterminal(s) 130 may be implemented according to some embodiments of thepresent disclosure. As illustrated in FIG. 8 , the mobile device 800 mayinclude a communication platform 810, a display 820, a graphicprocessing unit (GPU) 830, a central processing unit (CPU) 840, an I/O850, a memory 860, and a storage 890. In some embodiments, any othersuitable component, including but not limited to a system bus or acontroller (not shown), may also be included in the mobile device 800.In some embodiments, a mobile operating system 870 (e.g., iOS™,Android™, Windows Phone™, etc.) and one or more applications 380 may beloaded into the memory 860 from the storage 890 in order to be executedby the CPU 840. The applications 880 may include a browser or any othersuitable mobile apps for receiving and rendering information relating toimage processing or other information from the processing engine 140.User interactions with the information stream may be achieved via theI/O 850 and provided to the processing engine 140 and/or othercomponents of the X-ray scanner positioning system 100 via the network120.

To implement various modules, units, and their functionalities describedin the present disclosure, computer hardware platforms may be used asthe hardware platform(s) for one or more of the elements describedherein. A computer with user interface elements may be used to implementa personal computer (PC) or any other type of work station or terminaldevice. A computer may also act as a server if appropriately programmed.

FIG. 9 is a schematic block diagram illustrating an exemplary processingengine 140 according to some embodiments of the present disclosure. Theprocessing engine 140 may include a first positioning module 901 and/ora second positioning module 902. Alternatively, the first positioningmodule 901 and the second positioning module 902 may be implemented intwo processing engines, respectively.

The first positioning module 901 may be configured to determinepositioning information of the indicator or the X-ray source 30 of theX-ray scanner 110. The positioning information of the indicator mayguide the indicator to be positioned at a location to indicate a targetposition (e.g., as described in connection with FIGS. 11-15 ). Thepositioning information of the X-ray source 30 may guide the X-raysource 30 to be positioned at a location to allow a target in the objectto remain in an imaging view, or a desired portion thereof, of the X-rayscanner 110 (e.g., as described in connection with FIGS. 16-22 ). Forinstance, the positioning information of the X-ray source 30 of theX-ray scanner 110 may guide the X-ray source 30 to be positioned at alocation such that the target in the object remains in a center portionof the imaging view of the X-ray scanner 110. The first positioningmodule 901 may include an imaging unit 910, a first locationdetermination unit 920, a second location determination unit 930, and apositioning unit 940.

The imaging unit 910 may be configured to obtain one or more images ofan object scanned by the X-ray scanner 110. In some embodiments, theimage of the object may be a 2D image or a 3D image. In someembodiments, the imaging unit 910 may obtain imaging data generated bythe X-ray scanner 110 and generate one or more images of the objectbased on the imaging data. In some embodiments, the imaging unit 910 maygenerate one or more images of the object in advance and store the oneor more images in the storage device 150 and/or a storage apparatus(e.g., the storage 720, the storage 890, or the memory 860). The imagingunit 910 may retrieve the one or more images from the storage device 150and/or the storage apparatus (e.g., the storage 720, the storage 890, orthe memory 860).

The first location determination unit 920 may be configured to determinean image target location of a target corresponding to the object. Asused herein, a target may refer to a portion of an object (e.g., Cillustrated in FIGS. 13 and 15 ), depending on the context where it isused.

The X-ray scanner 110 may scan a region of interest (ROI) of the object.The ROI of the object may be a portion of the object. For example, theobject may be a patient. The ROI of the object may include a lung of thepatient. The target may represent the ROI. The target may be a spot oran area in the ROI of the object. For example, the target may be acenter point of the ROI. As another example, the target may be an areawithin the ROI. The image target location corresponding to the targetmay refer to a location of a portion of the image that corresponds tothe target. In some embodiments, if the target is a spot in the object,the image target location may include the location of one or moreneighboring pixels or voxels in an image corresponding to the targetacquired by a scanning by the X-ray scanner 110. In some embodiments, ifthe target is an area in the object, the image target location may bethe location of an area including a plurality of neighboring pixels orvoxels in an image corresponding to the target acquired by a scanning bythe X-ray scanner 110. As used herein, two pixels or voxels areconsidered neighboring pixels or voxels when they are next to each otherwithout a pixel or voxel located in between. As used herein, more thantwo pixels or voxels in an area are considered neighboring pixels orvoxels when each pixel or voxel in the area has at least one neighboringpixel or voxel within the area.

When one or more projection lines (e.g., the X-rays emitted from theX-ray source 30) emitted from a point (e.g., the X-ray source 30) passthrough the target, the target may be projected onto a projection plane(e.g., the detector 20) and a pattern of the target may be generated onthe projection plane (e.g., the detector 20). The pattern of the targetgenerated on the projection plane (e.g., the detector 20) may bereferred to as the center projection of the target.

In some embodiments, the X-ray source 30 may emit X-rays. One or moreX-rays may pass through the target. The detector 20 may detect lightsignals relating to the X-rays passing through the target. An imageincluding the target may be generated based on the light signals. Asused herein, an image target location may be same as a center projectionof the target onto the detector 20, depending on the context where theterm is used. In some embodiments, the image target location may beidentified by two-dimensional (2D) coordinates or three-dimensional (3D)coordinates.

The second location determination unit 930 may be configured todetermine a target position of the target. The target position of thetarget may refer to an actual location of the target in space. Thetarget position of the target may be identified by 2D coordinates or 3Dcoordinates.

The positioning unit 940 may be configured to determine positioninginformation of the indicator or the X-ray source 30 of the X-ray scanner110 based on the target position of the target. In some embodiments, thepositioning unit 940 may determine the positioning information of theindicator of the X-ray scanner 110. The positioning information of theindicator of the X-ray scanner 110 may guide the indicator to bepositioned at a location to indicate the target position (e.g., asdescribed in connection with FIGS. 11-15 ). In some embodiments, thepositioning unit 940 may determine the positioning information of theX-ray source 30 of the X-ray scanner 110. The positioning information ofthe X-ray source 30 of the X-ray scanner 110 may guide the X-ray source30 to be positioned at a location to allow the target in the object toremain in an imaging view of the X-ray scanner 110 (e.g., as describedin connection with FIGS. 16-22 ).

The second positioning module 902 may be configured to determinepositioning information of the X-ray scanner 110. The positioninginformation of the X-ray scanner 110 may guide the X-ray scanner 110 tomove from one location to another location (e.g., as described inconnection with FIG. 23 ). The second positioning module 902 may includean origin determination unit 950, a coordinate system determination unit960, a current location determination unit 970, and a positioninginformation determination unit 980.

The origin determination unit 950 may be configured to determine anorigin to determine a coordinate system. The coordinate systemdetermination unit 960 may determine a coordinate system based on theorigin. The current location determination unit 970 may determinecoordinates of the current location based on the origin and thecoordinate system. The positioning information determination unit 980may determine the positioning information of the X-ray scanner 110 basedon the origin and the coordinates of the current location. Thepositioning information of the X-ray scanner 110 may guide the X-rayscanner 110 to move from the current location to the origin (e.g., asdescribed in connection with FIG. 23 ).

In some embodiments, the X-ray scanner 110 and/or one or more componentsof the X-ray scanner 110 (e.g., the actuator, the indicator, or theX-ray source 30) may be driven manually or automatically based on thepositioning information of the X-ray scanner 110. For example, theprocessing engine 140 may transmit instructions relating toautomatically drive the X-ray scanner 110 and/or the one or morecomponents of the X-ray scanner 110 (e.g., the actuator, the indicator,or the X-ray source 30) to the X-ray scanner 110 (e.g., a driving modulein the X-ray scanner 110) based on the positioning information.

The modules and/or units in the processing engine 140 may be connectedto or communicate with each other via a wired connection or a wirelessconnection. The wired connection may include a metal cable, an opticalcable, a hybrid cable, or the like, or any combination thereof. Thewireless connection may include a Local Area Network (LAN), a Wide AreaNetwork (WAN), a Bluetooth, a ZigBee, a Near Field Communication (NFC),or the like, or any combination thereof. Two or more of the units may becombined into a single unit, and any one of the units may be dividedinto two or more units. For example, the first location determinationunit 920 may be integrated into the second location determination unit930 as a single unit which may both determine the image target locationand the target position. As another example, the imaging unit 910 may bedivided into two units. The first unit may be configured to obtain theimaging data and/or the one or more images, while the second unit may beconfigured to generate one or more images based on the imaging data.

FIG. 10 is a flowchart illustrating an exemplary process/method 1000 fordetermining positioning information of an indicator or an X-ray sourceof the X-ray scanner 110 according to some embodiments of the presentdisclosure. In some embodiments, the process/method 1000 may beimplemented in the system 100 illustrated in FIG. 1 . For example, theprocess/method 1000 may be stored in the storage device 150 and/or thestorage apparatus (e.g., the storage 720, the storage 890, or the memory860) in the form of instructions, and invoked and/or executed by theprocessing engine 140 (e.g., the processor 710 of the processing engine140, one or more modules in the processing engine 140 illustrated inFIG. 9 , or one or more units in the processing engine 140 illustratedin FIG. 9 ). The operations of the illustrated process/method presentedherein are intended to be illustrative. In some embodiments, theprocess/method 1000 may be accomplished with one or more additionaloperations not described, and/or without one or more of the operationsdiscussed. Additionally, the order in which the operations of theprocess/method 1000 as illustrated in FIG. 10 and described below is notintended to be limiting.

In 1010, the imaging unit 910 may obtain one or more images relating toa target. The target may refer to a portion of an object.

In 1020, the first location determination unit 920 may determine one ormore image target locations of the target based on the one or moreimages. The image target location of the target may refer to a locationof a portion of an image (e.g., one or more pixels or voxels in theimage) corresponding to the target. For example, C′ illustrated in FIG.13 may be the image target location of the target C. As another example,C₁ illustrated in FIG. 20A may be the image target location of thetarget R.

In 1030, the second location determination unit 930 may determine thetarget position of the target based on the one or more image targetlocations. The target position may refer to an actual location of thetarget in space. The target position may be identified using 2D or 3Dcoordinates of a 2D or 3D coordinate system.

In 1040, the positioning unit 940 may determine positioning informationon the basis of which the X-ray scanner 110 may be positioned at alocation associated with the target position. In some embodiments, thepositioning unit 940 may determine the positioning information of theindicator of the X-ray scanner 110. The positioning information of theindicator of the X-ray scanner 110 may guide the indicator to bepositioned at a location to indicate the target position (e.g., asdescribed in connection with FIGS. 11-15 ). In some embodiments, thepositioning unit 940 may determine the positioning information of theX-ray source 30 of the X-ray scanner 110. The positioning information ofthe X-ray source 30 of the X-ray scanner 110 may guide the X-ray source30 to be positioned at a location to allow the target in the object toremain in an imaging view, or a desired portion thereof, of the X-rayscanner 110 (e.g., as described in connection with FIGS. 16-22 ). Forinstance, the positioning information of the X-ray source 30 of theX-ray scanner 110 may guide the X-ray source 30 to be positioned at alocation to allow the target in the object to remain in a center portionof the imaging view of the X-ray scanner 110.

FIG. 11 is a flowchart illustrating an exemplary process/method 1100 fordetermining positioning information of an indicator of the X-ray scanner110 according to some embodiments of the present disclosure. In someembodiments, the process/method 1100 may be implemented in the system100 illustrated in FIG. 1 . For example, the process/method 1100 may bestored in the storage device 150 and/or a storage apparatus (e.g., thestorage 720, the storage 890, or the memory 860) in the form ofinstructions, and invoked and/or executed by the processing engine 140(e.g., the processor 710 of the processing engine 140, one or moremodules in the processing engine 140 illustrated in FIG. 9 , or one ormore modules in the processing engine 140 illustrated in FIG. 9 ). Theoperations of the illustrated process/method presented below areintended to be illustrative. In some embodiments, the process/method1100 may be accomplished with one or more additional operations notdescribed, and/or without one or more of the operations discussed.Additionally, the order in which the operations of the process/method1100 as illustrated in FIG. 11 and described below is not intended to belimiting.

In some embodiments, when the X-ray scanner 110 includes an indicator,the processing engine 140 may perform the process/method 1100 todetermine positioning information of the indicator. The positioninginformation of the indicator may be used to guide the indicator to bepositioned at a location to indicate a target position of a target.

In 1110, the imaging unit 910 may obtain an image associated with theobject. In some embodiments, the imaging unit 910 may obtain imagingdata generated by the X-ray scanner 110 and generate the imageassociated with the object based on the imaging data. In someembodiments, the imaging unit 910 may generate the image associated withthe object in advance and store the image in the storage device 150and/or the storage apparatus (e.g., the storage 720, the storage 890, orthe memory 860). The imaging unit 910 may obtain the image associatedwith the object from the storage device 150 and/or the storage apparatus(e.g., the storage 720, the storage 890, or the memory 860).

In 1120, the first location determination unit 920 may determine animage target location corresponding to a target to be imaged. The targetmay be a point or an area that represents an ROI of the object. Forexample, if the object is a patient, the ROI of the object may include alung of the patient. The target may be a center point of the lung. Theimage target location may refer to the location of the portion of theimage that corresponds to the target. The image target location may beidentified by 2D coordinates in a 2D coordinate system. In someembodiment, the 2D coordinate system may be determined based on theimage (or the detector 20). For example, the origin of the 2D coordinatesystem may be a top point in the bottom-left corner of the image (or thedetector 20), the X axis of the 2D coordinate system may be an edge ofthe image (or the detector 20) that goes through the origin, and the Yaxis of the 2D coordinate system may be another edge of the image (orthe detector 20) that goes through the origin.

In some embodiments, after obtaining the image, the processing engine140 may display the image on a screen. A user of the system 100 (e.g., adoctor or an imaging specialist) may determine the image targetlocation. The determination of the image target location may be providedto the system 100 via a user interface by, for example, clicking a mouseor touching a screen. The user interface may be implemented on acomputing device as illustrated in FIG. 7 or a mobile device asillustrated in FIG. 8 . Based on the instruction as to the image targetlocation, the first location determination unit 920 may determine 2Dcoordinates of the image target location. In some embodiments, the firstlocation determination unit 920 may determine the image target locationautomatically based on, for example, an image recognition algorithms.

Merely by way of example, the target is a spot in an objectcorresponding to one or more pixels or voxels in an image acquired by ascanning by the X-ray scanner 110, and the first location determinationunit 920 may identify the image target location by 2D coordinates of theone or more pixels or voxels. As another example, the target is an areacorresponding to a plurality of neighboring pixels or voxels in an imageacquired by a scanning by the X-ray scanner 110, and the first locationdetermination unit 920 may select at least two pixels or voxels in theimage corresponding to the target, and identify the image targetlocation by 2D coordinates of the at least two pixels or voxels.

In 1130, the second location determination unit 930 may determine atarget position of the target based on the image target location. Insome embodiments, the second location determination unit 930 mayidentify the target position of the target by an orthographic projectionof the target onto the detector 20. The target position of the targetmay be represented by 2D coordinates in a 2D coordinate systemcorresponding to the 2D coordinate system relating to the image targetlocation.

Merely by way of example, the target is a spot in an objectcorresponding to one or more neighboring pixels or voxels in an imageacquired by a scanning by the X-ray scanner 110, and the second locationdetermination unit 930 may determine the target position of the targetbased on the 2D coordinates of the one or more pixels or voxels. Asanother example, the target is an area corresponding to a plurality ofneighboring pixels or voxels in an image acquired by a scanning by theX-ray scanner 110, and the second location determination unit 930 maydetermine the target position of the target based on the 2D coordinatesof at least two pixels or voxels corresponding to two spots within thetarget.

In some embodiments, the second location determination unit 930 maydetermine the coordinates of the target position by determiningcoordinates of an orthographic projection of the target onto thedetector 20 (e.g., C″ illustrated in FIG. 12 ). When one or moreprojection lines that are parallel to each other and vertical to aprojection plane (e.g., the detector 20) pass through the target, thetarget may be projected onto the projection plane (e.g., the detector20) and a pattern of the target may be generated on the projection plane(e.g., the detector 20). The pattern of the target generated on theprojection plane (e.g., the detector 20) may be referred to as theorthographic projection of the target.

In 1140, the positioning unit 940 may determine positioning informationof the indicator of the X-ray scanner 110. The indicator may bepositioned at a location according to the positioning information toindicate the target position. In some embodiments, positioninginformation of the indicator of the X-ray scanner 110 may guide theindicator to move from a current location of the indicator to a locationsuch that the indicator may indicate the target position. In someembodiments, the indicator may be moved to the location manually, orautomatically by the processing engine 140 or a driving module of theX-ray scanner 110 based on the positioning information of the indicator.The processing engine 140 may transmit instructions relating toautomatically drive the indicator to the X-ray scanner 110 (e.g., thedriving module of the X-ray scanner 110) based on the positioninginformation. For brevity, some examples of the process/method 1100 maybe provided. It should be noted that the examples are merely providedfor the purposes of illustration, and not intended to limit the scope ofthe present disclosure.

FIGS. 12 and 13 are schematic diagrams illustrating an exemplary processfor determining a target position of a target according to someembodiments of the present disclosure. In some embodiments, theexemplary process may be applied to the indicator illustrated in FIGS.3A and 3B and a target in an object that is a spot corresponding to oneor more neighboring pixels or voxels in an image acquired by a scanningby the X-ray scanner 110.

As shown in FIGS. 12 and 13, 40 may refer to the object. A table 50 maysupport the object to be scanned. A dotted star 1204 may refer to alocation in the image of the ROI (e.g., a center projection of the ROIonto the detector 20). A solid star 1202 may refer to a location inspace of the ROI (e.g., an orthographic projection of the ROI onto thedetector 20). C may refer to a target in the object 40 that is a spotcorresponding to one or more pixels or voxels in an image of the object40 acquired by a scanning by the X-ray scanner 110. The X-ray source 30may emit X-rays. The X-rays may pass through the target C and bedetected by the detector 20. C′ may refer to the image target locationof the target C (e.g., a center projection of the target C onto thedetector 20). C″ may refer to the target position of the target C (e.g.,an orthographic projection of the target C onto the detector 20). A mayrefer to a Y coordinate of C′. L may refer to an X coordinate of C′. Bmay refer to a Y coordinate of C″. K may refer to an X coordinate of C″.D may refer to a Y coordinate of a midpoint of an image edge parallel tothe Y axis illustrated in FIG. 12 . The reference numeral 211 may referto a first linear laser light. The reference numeral 221 may refer to asecond linear laser light. The reference numeral 29 may refer to arangefinder configured to determine a distance between two points. Forexample, the rangefinder 29 may determine a distance between the object40 and the detector 20. F illustrated in FIG. 13 may indicate a focus ofthe X-ray source 30.

The first linear laser light 211 may be actuated to a location (e.g.,location M) of the detector 20 corresponding to the Y coordinate of C″,and the second linear laser light 221 may be actuated to a location(e.g., location N) of the detector 20 corresponding to the X coordinateof C″, such that the first linear laser light 211 and the second linearlaser light 221 may indicate the target position of the target C (e.g.,C″).

For illustration purposes and not intended to limit the scope of thepresent disclosure, a process for determining the Y coordinate of C″ isprovided with reference to FIG. 13 . As shown in FIG. 13 , to determinethe length of AB, the Y coordinate of C″ may be determined. As shown inFIG. 13 , ΔABC and ΔADF may be similar (e.g., ΔABC

ΔADF). The second location determination unit 930 may determine the Ycoordinate of C″ based on Equation (1) below:

$\begin{matrix}{{\frac{L_{AB}}{L_{AD}} = \frac{L_{BC}}{L_{DF}}},} & (1)\end{matrix}$where L_(AB) refers to the length of AB, L_(AD) refers to the length ofAD, L_(BC) refers to the length of BC, and L_(DF) refers to the lengthof DF.

The Y coordinate of C′ is known, so L_(AD) is known. The second locationdetermination unit 930 may determine L_(BC) by determining a distancebetween the object 40 and the detector 20 using the rangefinder 29. Forexample, the rangefinder 29 may determine that the distance between theobject 40 and the detector 20 is equal to a, and the second locationdetermination unit 930 may determine L_(BC) as a as illustrated in FIG.13 . L_(DF) may refer to a distance between the X-ray source 30 and thedetector 20 and be known for the X-ray scanner 110. In some embodiments,the second location determination unit 930 may determine the Ycoordinate of C″ based on L_(AB). In some embodiments, the secondlocation determination unit 930 may determine the X coordinate of C″based on the same process as the process for determining the Ycoordinate of C″.

FIG. 14 is a schematic diagram illustrating an exemplary process fordetermining a target position of a target according to some embodimentsof the present disclosure. In some embodiments, the exemplary processmay be applicable to the indicator illustrated in FIG. 4 and a target inan object that is an area corresponding to a plurality of neighboringpixels or voxels in an image acquired by a scanning by the X-ray scanner110.

As shown in FIG. 14 , X_(max)′ may refer to a maximum X coordinate ofthe target position of the target that is an area. X_(min)′ may refer toa minimum X coordinate of the target position of the target. Y_(max)′may refer to a maximum Y coordinate of the target position of thetarget. Y_(min)′ may refer to a minimum Y coordinate of the targetposition of the target.

The maximum X coordinate, the minimum X coordinate, the maximum Ycoordinate, and the minimum Y coordinate of the target position may bedetermined. The first linear laser light 211 may be actuated to alocation of the detector 20 corresponding to Y_(min)′, the third linearlaser light 231 may be actuated to a location of the detector 20corresponding to Y_(max)′, the second linear laser light 221 may beactuated to a location of the detector 20 corresponding to X_(max)′, andthe fourth linear laser light 241 may be actuated to a location of thedetector 20 corresponding to X_(min)′, such that laser rays emitted fromthe first linear laser light 211, the second linear laser light 221, thethird linear laser light 231, and the fourth linear laser light 241 maydefine an area to indicate the target position of the target that is anarea.

In some embodiments, the second location determination unit 930 maydetermine X_(min)′, X_(max)′, Y_(min)′, and Y_(max)′ based on the sameprocess as the process of determining the Y coordinate of C″ illustratedin FIGS. 13-14 and the description thereof.

FIG. 15 is a schematic diagram illustrating an exemplary process fordetermining the target position of a target according to someembodiments of the present disclosure. In some embodiments, theexemplary process 1100 may be applicable to the indicator illustrated inFIGS. 5A and 6 and a target in an object that is a spot corresponding toone or more neighboring pixels or voxels in an image acquired by ascanning by the X-ray scanner 110.

As shown in FIG. 15, 251 may refer to a fifth laser light described inFIG. 5A and/or FIG. 6 . The fifth actuator unit may actuate the fifthlaser light 251 to swing. In some embodiments, a rotation may refer to amovement along a circle. A swing may refer to a movement along a part ofa circle (e.g., an arc). α may refer to a swing angle of the fifth laserlight 251.

The Y coordinate of the target position of the target C, and the swingangle of the fifth laser light 251 may be determined. The fifth laserlight 251 may be actuated to a location of the detector 20 correspondingto the Y coordinate of the target position of the target C and to aswing angle equal to α, such that the fifth laser light 251 may indicatethe target position of the target C.

In some embodiments, the second location determination unit 930 maydetermine the Y coordinate of the target position of the target C basedon the same process as the process for determining the Y coordinate ofC″ in the image as illustrated in FIGS. 12 and 13 and the descriptionthereof.

In some embodiments, the second location determination unit 930 maydetermine a based on Equation (2) below:

$\begin{matrix}{\tan\mspace{14mu}{{\alpha = \frac{L_{BC}}{L_{BG}}},}} & (2)\end{matrix}$wherein L_(BC) refers to the length of BC, L_(BG) refers to the lengthof BG, and G refer to a spot in the fifth laser light 251 and representsthe fifth laser light 251.

The second location determination unit 930 may determine L_(BZ) based onthe Y coordinate of the target position of the target C. The secondlocation determination unit 930 may determine L_(BC) by determining adistance between the object 40 and the detector 20 using the rangefinder29.

Alternatively, the second location determination unit 930 may determinean X coordinate of the target position of the target C and a swing angleof β to make the fifth laser light 251 indicate the target position ofthe target C.

FIG. 16 is a schematic diagram illustrating an isocentric rotation ofthe X-ray scanner 110 according to some embodiments of the presentdisclosure. As shown in FIG. 16 , when the support 10 undergoes anisocentric rotation, a center line 1620 of the X-rays emitted from theX-ray source 30 passes through the center 1630 of the support 10 of theX-ray scanner 110. For the isocentric rotation, the center of thesupport 10 may be referred to as an isocenter of the X-ray scanner 110.As shown in FIG. 16 , during an isocentric rotation, unless a target1640 is placed at the center 1630 of the support 10 of the X-ray scanner110, the target 1640 may be out of an imaging view (e.g., a region inthe pathway of the X-rays) of the X-ray scanner 110 when the support 10undergoes an isocentric rotation from one location (e.g., 30-1) toanother location (e.g., 30-2). A location 20-1 of the detector 20 maycorrespond to the location 30-1 of the X-ray source 30. A location 20-2of the detector 20 may correspond to the location 30-2 of the X-raysource 30. The dotted line 1610 may refer to a rotation track of thedetector 20 and/or the X-ray source 30.

FIG. 17 is a schematic diagram illustrating a non-isocentric rotation ofthe X-ray scanner 110 according to some embodiments of the presentdisclosure. As shown in FIG. 17 , when the support 10 undergoes anon-isocentric rotation, a center line 1620 of the X-rays emitted fromthe X-ray source 30 does not pass through the center 1630 of the support10. As shown in FIG. 17 , for the non-isocentric rotation, the target1640 may be out of the imaging view (e.g., a region that is in thepathway of the X-rays) of the X-ray scanner 110 when the support 10undergoes a non-isocentric rotation from one location to anotherlocation.

When the support 10 undergoes an isocentric rotation and/or anon-isocentric rotation from one location to another location, theprocessing engine 140 may determine positioning information of the X-raysource 30 to move the X-ray source 30 accordingly so as to allow atarget of an object to remain in the imaging view, or a desired portionthereof, of the X-ray scanner 110. For instance, the positioninginformation of the X-ray source 30 of the X-ray scanner 110 may guidethe X-ray source 30 to be positioned at a location such that the targetin the object remains in a center portion of the imaging view of theX-ray scanner 110.

FIG. 18 is a flowchart illustrating an exemplary process/method 1800 fordetermining positioning information of the X-ray source 30 of the X-rayscanner 110 according to some embodiments of the present disclosure. Insome embodiments, the process/method 1800 may be implemented in thesystem 100 illustrated in FIG. 1 . For example, the process/method 1800may be stored in the storage device 150 and/or a storage apparatus(e.g., the storage 720, the storage 890, or the memory 860) in the formof instructions, and invoked and/or executed by the processing engine140 (e.g., the processor 710 of the processing engine 140, one or moremodules in the processing engine 140 illustrated in FIG. 9 , or one ormore units in the processing engine 140 illustrated in FIG. 9 ). Theoperations of the illustrated process/method presented below areintended to be illustrative. In some embodiments, the process/method1800 may be accomplished with one or more additional operations notdescribed, and/or without one or more of the operations discussed.Additionally, the order in which the operations of the process/method1800 as illustrated in FIG. 18 and described below is not intended to belimiting.

In some embodiments, the processing engine 140 may perform theprocess/method 1800 to determine positioning information of the X-raysource 30 of the X-ray scanner 110. The positioning information of theX-ray source 30 may guide the X-ray source 30 to be positioned at alocation such that a target in an object is within the imaging view, ora desired portion thereof, of the X-ray scanner 110. The target may bepart of an object scanned by the X-ray scanner 110. The target may be aspot or an area representing the ROI of the object.

In 1810, the imaging unit 910 may obtain a first image and a secondimage of an object. The X-ray source 30 may emit X-rays toward theobject. The detector 20 may detect the X-rays emitted from the X-raysource 30 and generate imaging data used to generate one or more imagesassociated with the object. In some embodiments, the imaging unit 910may obtain imaging data generated by the X-ray scanner 110 and generatethe first image and the second image of the object based on the imagingdata. In some embodiments, the imaging unit 910 may generate the firstimage and the second image of the object in advance and store the firstimage and the second image in the storage device 150 and/or the storageapparatus (e.g., the storage 720, the storage 890, or the memory 860).The imaging unit 910 may obtain the first image and the second imagefrom the storage device 150 and/or the storage apparatus (e.g., thestorage 720, the storage 890, or the memory 860).

In some embodiments, the first image may be generated based on theimaging data generated when the X-ray source 30 scans the object at afirst scanning location. The second image may be generated based on theimaging data generated when the X-ray source 30 scans the object at asecond scanning location. In some embodiments, a scanning location ofthe X-ray source 30 may be identified using a rotation angle and aspatial location. The rotation angle may refer to an angle between acenter line of the X-rays emitted from the X-rays source 30 and astraight line vertical to a horizontal plane. In some embodiments, theobject subject to a scanning using the X-ray source 30 may be placed onthe horizontal surface of a table (e.g., the table 50 as illustrated inFIG. 13 or FIG. 15 ). The spacial location of the X-ray source 30 may beidentified using 3D coordinates. In some embodiments, the rotation angleof the first scanning location and the rotation angle of the secondscanning location may be the same or different. Two scanning locationsare considered the same if both the rotation angles and the spatiallocations of the two scanning locations are the same. Two scanninglocations are considered different if either the rotation angles or thespatial locations of the two scanning locations are different.

In some embodiments, the first location and/or the second location maybe set manually by the user or automatically by the system 100 accordingto, for example, a default setting of the X-ray scanner 110.

In 1820, the first location determination unit 920 may determine a firstimage target location corresponding to the target based on the firstimage and a second image target location of the target based on thesecond image. The first location determination unit 920 may determinethe first image target location of the target by identifying, in thefirst image, one or more pixels or voxels corresponding to the target.The first location determination unit 920 may determine the second imagetarget location of the target by identifying, in the second image, oneor more pixels or voxels corresponding to the target. In someembodiments, the first image target location and the second image targetlocation may be identified by respective 3D coordinates in a 3Dcoordinate system.

In some embodiments, after obtaining the first image and the secondimage, the processing engine 140 may display the two images on a screen.A user of the system 100 (e.g., a doctor or an imaging specialist) maydetermine the first image target location and the second image targetlocation by, for example, clicking a mouse or touching the screen. Afterreceiving the instructions of determining the first image targetlocation and the second image target location, the first locationdetermination unit 920 may determine the 3D coordinates of the firstimage target location and the 3D coordinates of the second image targetlocation. In some embodiments, after the first image target location isidentified manually by the user, the first location determination unit920 may determine the second image target location automatically basedon the first image target location (e.g., the grey value of the firstimage target location). In some embodiments, the first locationdetermination unit 920 may determine the first image target location andthe second image target location automatically based on, for example, animage recognition algorithm to recognize the portion of the image (e.g.,one or more pixels or voxels) corresponding to the target.

In some embodiments, the target is a spot in an object corresponding toone or more pixels or voxels in the first (or second) image acquired bya scanning by the X-ray scanner 110, the first (or second) image targetlocation may be identified by 3D coordinates of the one or more pixelsor voxels in the first (or second) image corresponding to the target. Insome embodiments, the target is an area corresponding to a plurality ofpixels or voxels in the first (or second) image acquired by a scanningby the X-ray scanner 110, the first location determination unit 920 mayselect at least two pixels or voxels in the first (or second) image, andthe first (or second) image target location may be identified by 3Dcoordinates of the at least two pixels or voxels in the first (orsecond) image.

In 1830, the second location determination unit 930 may determine atarget position of the target based on the first image target locationand the second image target location. The target position of the targetmay be identified by 3D coordinates in a 3D coordinate systemcorresponding to the 3D coordinate system relating to the first imagetarget location and/or the second image target location. In someembodiments, if the target is a spot, the target position of the targetmay be identified by the 3D coordinates of the target. In someembodiments, if the target is an area, the target position of the targetmay be identified by the 3D coordinates of at least two spot in thetarget. The at least two spot in the target may correspond to the atleast two pixels or voxels in the first image and/or the second image ofthe target.

In 1840, the positioning unit 940 may determine a desired rotation angleof the X-ray source 30 of the X-ray scanner 110. The desired rotationangle of the X-ray source 30 may refer to a rotation angle of the X-raysource 30 to facilitate the scanning of an object. In some embodiments,the desired rotation angle may be set manually by the user. In someembodiments, the desired rotation angle may be determined automaticallyby the system 100 according to, for example, a default setting of theX-ray scanner 110.

In 1850, the positioning unit 940 may determine positioning informationof the X-ray source 30. The positioning information of the X-ray source30 may guide the X-ray source 30 to be positioned at a location so as toallow the target of the object to remain in the imaging view of theX-ray scanner 110. The positioning information of the X-ray source 30may guide the X-ray source 30 to move from a current location of theX-ray source 30 to the location such that the target may be in theimaging view of the X-ray scanner 110. In some embodiments, the X-raysource 30 may be moved to the location manually, or automatically by,e.g., the processing engine 140 or a driving module of the X-ray scanner110, based on the positioning information of the X-ray source 30.

In some embodiments, in addition to the target position of the target,the positioning unit 940 may determine the positioning information ofthe X-ray source 30 based on the desired location where the user desiresthe target to locate in the imaging view of the X-ray scanner 110. Forexample, the desired location of the target may be on or intercept thecenter line of the X-rays emitted from the X-ray source 30, and adistance between the target and the center of the detector 20 may beone-third of the length of the center line of the X-rays. The length ofthe center line of the X-rays may refer to a length of a segment fromthe focus of the X-ray source 30 to the center of the detector 20. Thedesired location of the target may be set manually by the user orautomatically by the system 100 according to, for example, a defaultsetting of the X-ray scanner 110.

FIG. 19 is a flowchart illustrating an exemplary process/method 1900 fordetermining the target position of a target according to someembodiments of the present disclosure. In some embodiments, theprocess/method 1900 may be implemented in the system 100 illustrated inFIG. 1 . For example, the process/method 1900 may be stored in thestorage device 150 and/or a storage apparatus (e.g., the storage 720,the storage 890, or the memory 860) in the form of instructions, andinvoked and/or executed by the processing engine 140 (e.g., theprocessor 710 of the processing engine 140, or one or more modules inthe processing engine 140 illustrated in FIG. 9 ). The operations of theillustrated process/method presented below are intended to beillustrative. In some embodiments, the process/method 1900 may beaccomplished with one or more additional operations not described,and/or without one or more of the operations discussed. Additionally,the order in which the operations of the process/method 1900 asillustrated in FIG. 19 and described below is not intended to belimiting. In some embodiments, 1830 illustrated in FIG. 18 may beperformed according to the process/method 1900.

The second location determination unit 930 may determine a first segmentbetween the first image target location and the first scanning locationof the X-ray source 30. In some embodiments, the second locationdetermination unit 930 may determine a 3D straight-line equation of thefirst segment based on the 3D coordinates of the first scanning locationand the 3D coordinates of the first target location.

The second location determination unit 930 may determine a secondsegment between the second image target location and the second scanninglocation of the X-ray source 30. In some embodiments, the secondlocation determination unit 930 may determine a 3D straight-lineequation of the second segment based on the 3D coordinates of the secondscanning location and the 3D coordinates of the second target location.

The second location determination unit 930 may determine the targetposition based on the first segment and the second segment. In someembodiments, the second location determination unit 930 may determinethe target position by determining an intersection of the first segmentand the second segment. In some embodiments, for a condition that thereis no intersection of the first segment and the second segment, thesecond location determination unit 930 may determine a third segmentbetween a point of the first segment and a point of the second segment.There may be a plurality of segments between any one point of the firstsegment and any one point of the second segment. The second locationdetermination unit 930 may designate the segment with the minimum lengthamong the plurality of segments between the first segment and the secondsegment as the third segment. A segment of the plurality of segmentsincludes a point in the first segment and a point in the second segment.The second location determination unit 930 may determine whether thelength of the third segment is greater than a threshold. The secondlocation determination unit 930 may designate a point of the thirdsegment (e.g., a midpoint of the third segment) as the target positionof the target in response to a determination that the length of thethird segment is less than or equal to the threshold. The first locationdetermination unit 920 may determine a new first image target locationof the target and a new second image target location of the target inresponse to a determination that the length of the third segment isgreater than the threshold. For example, the user may determine a newfirst image target location of the target and a new second image targetlocation of the target by, for example, clicking a mouse or touching ascreen in a user interface of the X-ray scanner positioning system 100.

For illustration purposes and not intended to limit the scope of thepresent disclosure, some examples for determining the target position ofthe target described in FIG. 18 and/or FIG. 19 are provided withreference to FIGS. 20A, 20B, 21, 22A, and 22B.

FIG. 20A is a schematic diagram illustrating a first example of theprocess/method 1800 and/or the process/method 1900 for determining atarget position of a target according to some embodiments of the presentdisclosure. In some embodiments, the first example of determining thetarget position may be applicable to the target that is a spotcorresponding to one or more neighboring pixels in an image of theobject acquired by a scanning by the X-ray scanner 110. For example, thetarget may be a center of the ROI of the object. The rotation angle ofthe first scanning location and the rotation angle of the secondscanning location may be different for a condition that the target is aspot.

As shown in FIG. 20A, A₁ may refer to a first scanning location of theX-ray source 30. A₂ may refer to a second scanning location of the X-raysource 30. R may refer to the target. C₁ may refer to the first imagetarget location. C₂ may refer to the second image target location. B₁may refer to the center of the first image (or the detector 20). B₂ mayrefer to the center of the second image (or the detector 20).

The second location determination unit 930 may determine a straight-lineequation of A₁C₁ based on the 3D coordinates of A₁ and the 3Dcoordinates of C₁. The second location determination unit 930 maydetermine a straight-line equation of A₂C₂ based on the 3D coordinatesof A₂ and the 3D coordinates of C₂. The second location determinationunit 930 may determine the 3D coordinates of the target position of thetarget (e.g., R) by determining the 3D coordinates of an intersection ofC₁ and A₂C₂.

FIG. 20B is a schematic diagram illustrating an example of determiningpositioning information of the X-ray source 30 according to someembodiments of the present disclosure.

As shown in FIG. 20B, φ may refer to a desired rotation angle of theX-ray source 30. After the second location determination unit 930determines the target position of a target (e.g., R), the positioningunit 940 may determine the position information to move the X-ray source30 such that the target remains in the imaging view (e.g., on orintercepting the center line A₃C₃ of the X-rays emitted from the X-raysource 30) of the X-ray scanner 110. For example, the positioninginformation of the X-ray source 30 may guide the X-ray source 30 totranslate a distance along the X-axis direction shown in FIG. 20B fromthe current location (e.g., A₂). Additionally or alternatively, thepositioning information of the X-ray source 30 may guide the X-raysource 30 to translate a distance along the Y-axis direction shown inFIG. 20B from the current location. Additionally or alternatively, thepositioning information of the X-ray source 30 may guide the X-raysource 30 to translate a distance along the Z-axis direction shown inFIG. 20B from the current location.

FIGS. 21, 22A, and 22B are schematic diagrams illustrating a secondexample of the process/method 1800 and/or the process/method 1900 fordetermining a target position corresponding to a target according tosome embodiments of the present disclosure. In some embodiments, thesecond example for determining the target position may be applicable tothe target that is an area. For example, as shown in FIG. 21 , thetarget may be an area included in the ROI of the object. For the targetthat is an area, the purpose of determining the target position of thetarget is to determine 3D coordinates of at least two spots of thetarget.

The rotation angle of the first scanning location and the rotation angleof the second scanning location may be different or the same under acondition that the target is an area. If the rotation angle of the firstscanning location and the rotation angle of the second scanning locationare the same, the spatial location of the first scanning location andthe spatial location of the second scanning location may be different.

In some embodiments, if the rotation angle of the first scanninglocation and the rotation angle of the second scanning location are thesame, the spatial location of the first scanning location and thespatial location of the second scanning location may be two differentlocations on the center line of the X-rays emitted from the X-ray source30 (as shown in FIG. 22A). In FIG. 22A, the purpose of determining thetarget position of the target is to determine 3D coordinates of R₁ andR₂. A segment R₁R₂ may be vertical to the center line (e.g., A₄B₄ orA₅B₅) of the X-rays emitted from the X-ray source 30. As shown in FIG.22A, A₄ and A₅ may indicate scanning locations of the X-ray source 30.C₄ may refer to a location of R₁ in the first image. D₄ may indicate thelocation of R₂ in the first image. C₅ may indicate the location of R₁ inthe second image. D₅ may indicate the location of R₂ in the secondimage. B₄ may indicate the center of the first image. B₅ may indicatethe center of the second image. In some embodiments, the second locationdetermination unit 930 may determine the 3D coordinates of R₁ and R₂based on the process illustrated in FIG. 19 and/or FIG. 20A. In someembodiments, the second location determination unit 930 may determinethe 3D coordinates of R₁ and R₂ based on Equation (3), Equation (4), andEquation (5) below:

$\begin{matrix}{{{A_{4}H} = {A_{4}B_{4}\frac{{HR}_{2}}{B_{4}D_{4}}}},} & (3) \\{{{A_{5}H} = {A_{5}B_{5}\frac{{HR}_{2}}{B_{5}D_{5}}}},{and}} & (4) \\{{A_{4}H} = {{A_{5}H} + {A_{4}{A_{5}.}}}} & (5)\end{matrix}$

The second location determination unit 930 may determine HR₂ based onEquation (3), Equation (4), and Equation (5). The second locationdetermination unit 930 may determine HR₁ using a method same as themethod of determining HR₂. The second location determination unit 930may determine the 3D coordinates of R₁ and R₂ based on HR₁ and HR₂.

In some embodiments, if the rotation angle of the first scanninglocation and the rotation angle of the second scanning location aredifferent, the spatial location of the first scanning location and thespatial location of the second scanning location may be two differentlocations in a direction perpendicular to the center line of the X-raysemitted from the X-ray source 30 (as shown in FIG. 22B). In FIG. 22B,the purpose of determining the target position of the target is todetermine 3D coordinates of R₁ and R₂. The segment R₁R₂ may be verticalto the center line (e.g., A₄B₄ or A₅B₅) of the X-rays emitted from theX-ray source 30. H₄ may indicate an orthographic projection of R₁ and R₂onto A₄B₄. H₅ may indicate an orthographic projection of R₁ and R₂ ontoA₅B₅. Because the segment of R₁R₂ is vertical to A₄B₄ and A₅B₅, theorthographic projection of R₁ onto A₄B₄ and the orthographic projectionof R₂ onto A₄B₄ may be the same, and the orthographic projection of R₁onto A₅B₅ and the orthographic projection of R₂ onto A₅B₅ may be thesame. In some embodiments, the second location determination unit 930may determine the 3D coordinates of R₁ and R₂ based on the processillustrated in FIG. 19 and/or FIG. 20A. In some embodiments, the secondlocation determination unit 930 may determine the 3D coordinates of R₁and R₂ based on Equation (6), Equation (7), Equation (8), and Equation(9) below:

$\begin{matrix}{{{H_{5}R_{2}} = {B_{4}D_{5}\frac{A_{5}H_{5}}{A_{5}B_{5}}}},} & (6) \\{{{H_{4}R_{2}} = {B_{4}D_{4}\frac{A_{4}H_{4}}{A_{4}B_{4}}}},} & (7) \\{{{H_{5}R_{2}} = {{H_{4}R_{2}} + {B_{4}B_{5}}}},{and}} & (8) \\{{A_{5}H_{5}} = {A_{4}{H_{4}.}}} & (9)\end{matrix}$The second location determination unit 930 may determine A₅H₅ (or A₄H₄)based on Equation (6), Equation (7), Equation (8), and Equation (9). Thesecond location determination unit 930 may determine H₅R₂ based on A₅H₅(or A₄H₄) and Equation (6). The second location determination unit 930may determine H₄R₂ based on A₅H₅ (or A₄H₄) and Equation (7). The secondlocation determination unit 930 may determine HR₁ using the sametechnique as the technique for determining HR₂. The second locationdetermination unit 930 may determine the 3D coordinates of R₂ based onH₄R₂ and H₅R₂. The second location determination unit 930 may determinethe 3D coordinates of R₁ based on a method same as the method ofdetermining the 3D coordinates of R₂.

FIG. 23 is a flowchart illustrating an exemplary process/method 2300 fordetermining positioning information of the X-ray scanner 110 accordingto some embodiments of the present disclosure. In some embodiments, theprocess/method 2300 may be implemented in the system 100 illustrated inFIG. 1 . For example, the process/method 2300 may be stored in thestorage device 150 and/or a storage apparatus (e.g., the storage 720,the storage 890, or the memory 860) in the form of instructions, andinvoked and/or executed by the processing engine 140 (e.g., theprocessor 710 of the processing engine 140, one or more modules in theprocessing engine 140 illustrated in FIG. 9 , or one or more units inthe processing engine 140 illustrated in FIG. 9 ). The operations of theillustrated process/method presented below are intended to beillustrative. In some embodiments, the process/method 2300 may beaccomplished with one or more additional operations not described,and/or without one or more of the operations discussed. Additionally,the order in which the operations of the process/method 2300 asillustrated in FIG. 23 and described below is not intended to belimiting.

In some embodiments, the processing engine 140 may perform theprocess/method 2300 to determine positioning information of the X-rayscanner 110. The positioning information of the X-ray scanner 110 mayguide the X-ray scanner 110 to move from one location to anotherlocation.

In 2310, the origin determination unit 950 may determine an origin of acoordinate system. In some embodiments, after the X-ray scanner 110scans an object at a first location, the X-ray scanner 110 may be movedaway to a second location. Subsequently, the X-ray scanner 110 may bemoved back to the first location to scan the object again. The origindetermination unit 950 may designate the first location as the origin.In some embodiments, when the X-ray scanner 110 scans the object at thefirst location, the user may send instructions to make the origindetermination unit 950 determine the first location as the origin. Insome embodiments, when the X-ray scanner 110 scans the object at thefirst location, the origin determination unit 950 may determine thefirst location as the origin automatically. In some embodiments, if theX-ray scanner 110 scans the object at two or more locations, the origindetermination unit 950 may automatically determine the location that thequality of the image corresponding to is most satisfactory among theseveral locations as the origin.

In 2320, the coordinate system determination unit 960 may determine acoordinate system based on the origin. The coordinate system may be a 2Dcoordinate system or a 3D coordinate system. In some embodiments, for aportable X-ray scanner, the coordinate system determination unit 960 maydetermine the coordinate system based on the ground. For example, thecoordinate system determination unit 960 may determine a 2D coordinatesystem of which the X axis and the Y axis are on the ground. In someembodiments, for a suspension X-ray scanner, the coordinate systemdetermination unit 960 may determine the coordinate system based on theceiling. For example, the coordinate system determination unit 960 maydetermine a 2D coordinate system of which the X axis and the Y axis areon the ceiling.

In 2330, the current location determination unit 970 may determinecoordinates of a current location of the X-ray scanner 110 based on theorigin and the coordinate system. In some embodiments, the X-ray scanner110 may be moved from the origin to the current location. Sensorsmounted on the X-ray scanner 110 may determine a displacement from theorigin to the current location. The current location determination unit970 may determine the coordinates of the current location of the X-rayscanner 110 based on the displacement. Alternatively or additionally,the coordinates of the current location may be determined by apositioning technology in the X-ray scanner 110. The X-ray scanner 110may transmit the coordinates of the current location to the currentlocation determination unit 970.

In 2340, the positioning unit 940 may determine positioning informationof the X-ray scanner 110 to be positioned at the origin from the currentlocation of the X-ray scanner 110. The positioning information of theX-ray scanner 110 may include a translation distance along the X-axisdirection of the coordinate system from the current location of thetarget to the origin, a translation distance along the Y-axis directionof the coordinate system from the current location of the target to theorigin, a distance from the current location of the target to theorigin, an angle between a line from the current location of the targetto the origin and the X-axis (or Y-axis) direction of the coordinatesystem, a movement speed, a movement acceleration, a movement time, etc.In some embodiments, the processing engine 140 may display thepositioning information of the X-ray scanner 110 on a screen. Theprocessing engine 140 may display the positioning information of theX-ray scanner 110 in the form of text, picture, video, voice, etc. Forexample, the processing engine 140 may provide a route for moving theX-ray scanner 110 from the current location of the origin. As anotherexample, the processing engine 140 may provide a notification by way of,for example, flashing a green icon when the X-ray scanner 110 arrives atthe origin. As still another example, the processing engine 140 may usea sound to inform the user that the X-ray scanner 110 arrives at theorigin. In some embodiments, the X-ray scanner 110 may be moved manuallyor automatically.

In some embodiments, the second positioning module 902 may determine anypoint as the origin and determine a coordinate system based on theorigin. The second positioning module 902 may determine coordinates ofthe location that the user desires to move back to and coordinates ofthe current location of the X-ray scanner 110 based on the coordinatesystem. The second positioning module 902 may determine the positioninginformation of the X-ray scanner 110 based on the coordinates of thelocation that the user desires to move back to and the coordinates ofthe current location of the X-ray scanner 110.

Having thus described the basic concepts, it may be rather apparent tothose skilled in the art after reading this detailed disclosure that theforegoing detailed disclosure is intended to be presented by way ofexample only and is not limiting. Various alterations, improvements, andmodifications may occur and are intended to those skilled in the art,though not expressly stated herein. These alterations, improvements, andmodifications are intended to be suggested by this disclosure, and arewithin the spirit and scope of the exemplary embodiments of thisdisclosure.

Moreover, certain terminology has been used to describe embodiments ofthe present disclosure. For example, the terms “one embodiment,” “anembodiment,” and/or “some embodiments” mean that a particular feature,structure or characteristic described in connection with the embodimentis included in at least one embodiment of the present disclosure.Therefore, it is emphasized and should be appreciated that two or morereferences to “an embodiment” or “one embodiment” or “an alternativeembodiment” in various portions of this specification are notnecessarily all referring to the same embodiment. Furthermore, theparticular features, structures or characteristics may be combined assuitable in one or more embodiments of the present disclosure.

Further, it will be appreciated by one skilled in the art, aspects ofthe present disclosure may be illustrated and described herein in any ofa number of patentable classes or context including any new and usefulprocess, machine, manufacture, or composition of matter, or any new anduseful improvement thereof. Accordingly, aspects of the presentdisclosure may be implemented entirely hardware, entirely software(including firmware, resident software, micro-code, etc.) or combiningsoftware and hardware implementation that may all generally be referredto herein as a “unit,” “module,” or “system.” Furthermore, aspects ofthe present disclosure may take the form of a computer program productembodied in one or more computer readable media having computer readableprogram code embodied thereon.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including electro-magnetic, optical, or thelike, or any suitable combination thereof. A computer readable signalmedium may be any computer readable medium that is not a computerreadable storage medium and that may communicate, propagate, ortransport a program for use by or in connection with an instructionexecution system, apparatus, or device. Program code embodied on acomputer readable signal medium may be transmitted using any appropriatemedium, including wireless, wireline, optical fiber cable, RF, or thelike, or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of thepresent disclosure may be written in any combination of one or moreprogramming languages, including an object oriented programming languagesuch as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB. NET,Python or the like, conventional procedural programming languages, suchas the “C” programming language, Visual Basic, Fortran 2103, Perl, COBOL2102, PHP, ABAP, dynamic programming languages such as Python, Ruby andGroovy, or other programming languages. The program code may executeentirely on the user's computer, partly on the user's computer, as astand-alone software package, partly on the user's computer and partlyon a remote computer or entirely on the remote computer or server. Inthe latter scenario, the remote computer may be connected to the user'scomputer through any type of network, including a local area network(LAN) or a wide area network (WAN), or the connection may be made to anexternal computer (for example, through the Internet using an InternetService Provider) or in a cloud computing environment or offered as aservice such as a Software as a Service (SaaS).

Furthermore, the recited order of processing elements or sequences, orthe use of numbers, letters, or other designations therefore, is notintended to limit the claimed processes and methods to any order exceptas may be specified in the claims. Although the above disclosurediscusses through various examples what is currently considered to be avariety of useful embodiments of the disclosure, it is to be understoodthat such detail is solely for that purpose, and that the appendedclaims are not limited to the disclosed embodiments, but, on thecontrary, are intended to cover modifications and equivalentarrangements that are within the spirit and scope of the disclosedembodiments. For example, although the implementation of variouscomponents described above may be embodied in a hardware device, it mayalso be implemented as a software only solution, for example, aninstallation on an existing server or mobile device.

Similarly, it should be appreciated that in the foregoing description ofembodiments of the present disclosure, various features are sometimesgrouped together in a single embodiment, figure, or description thereoffor the purpose of streamlining the disclosure aiding in theunderstanding of one or more of the various inventive embodiments. Thismethod of disclosure, however, is not to be interpreted as reflecting anintention that the claimed object matter requires more features than areexpressly recited in each claim. Rather, inventive embodiments lie inless than all features of a single foregoing disclosed embodiment.

In some embodiments, the numbers expressing quantities or propertiesused to describe and claim certain embodiments of the application are tobe understood as being modified in some instances by the term “about,”“approximate,” or “substantially.” For example, “about,” “approximate,”or “substantially” may indicate ±20% variation of the value itdescribes, unless otherwise stated. Accordingly, in some embodiments,the numerical parameters set forth in the written description andattached claims are approximations that may vary depending upon thedesired properties sought to be obtained by a particular embodiment. Insome embodiments, the numerical parameters should be construed in lightof the number of reported significant digits and by applying ordinaryrounding techniques. Notwithstanding that the numerical ranges andparameters setting forth the broad scope of some embodiments of theapplication are approximations, the numerical values set forth in thespecific examples are reported as precisely as practicable.

Each of the patents, patent applications, publications of patentapplications, and other material, such as articles, books,specifications, publications, documents, things, and/or the like,referenced herein is hereby incorporated herein by this reference in itsentirety for all purposes, excepting any prosecution file historyassociated with same, any of same that is inconsistent with or inconflict with the present document, or any of same that may have alimiting affect as to the broadest scope of the claims now or laterassociated with the present document. By way of example, should there beany inconsistency or conflict between the description, definition,and/or the use of a term associated with any of the incorporatedmaterial and that associated with the present document, the description,definition, and/or the use of the term in the present document shallprevail.

In closing, it is to be understood that the embodiments of theapplication disclosed herein are illustrative of the principles of theembodiments of the application. Other modifications that may be employedmay be within the scope of the application. Thus, by way of example, butnot of limitation, alternative configurations of the embodiments of theapplication may be utilized in accordance with the teachings herein.Accordingly, embodiments of the present application are not limited tothat precisely as shown and described.

What is claimed is:
 1. An X-ray scanner, comprising: an X-ray source, adetector, an actuator and an indicator; the X-ray source configured toemit X-rays; the detector configured to detect the X-rays that areemitted from the X-ray source, wherein the detector and the X-ray sourceare spaced apart by a space; the actuator configured to actuate theindicator based on a target in an X-ray image of an object imaged by theX-ray source and the detector, wherein the indicator indicates a targetposition on a surface of the object corresponding to the target.
 2. TheX-ray scanner of claim 1, further comprising a support having a firstend and a second end, wherein the X-ray source is connected with thefirst end of the support, and the detector is connected with the secondend of the support.
 3. The X-ray scanner of claim 1, wherein theactuator is further configured to actuate the indicator to perform atranslation, a swing, or a combination thereof according to positioninginformation of the indicator determined based on the X-ray image of theobject, and the actuator is connected with the indicator.
 4. The X-rayscanner of claim 1, wherein the indicator is located on a periphery ofthe space and connected with the detector.
 5. The X-ray scanner of claim4, wherein the indicator includes a first linear laser light and asecond linear laser light.
 6. The X-ray scanner of claim 5, wherein thedetector includes a frame having a first side and a second sideconnected with the first side, the first linear laser light is connectedwith the first side of the frame, and the second linear laser light isconnected with the second side of the frame.
 7. The X-ray scanner ofclaim 6, wherein the first linear laser light emits first laser rays,the second linear laser light emits second laser rays, the first linearlaser light and the second linear laser light are positioned such thatthe first laser rays and the second laser rays form an intersectionindicating the target position.
 8. The X-ray scanner of claim 6, whereinthe indicator further includes a third linear laser light and a fourthlinear laser light, the third linear laser light is connected with thefirst side of the frame, and the fourth linear laser light is connectedwith the second side of the frame.
 9. The X-ray scanner of claim 8,wherein the frame further has a third side parallel to the first sideand a fourth side parallel to the second side, the third linear laserlight is connected with the third side of the frame, and the fourthlinear laser light is connected with the fourth side of the frame. 10.The X-ray scanner of claim 8, wherein the first linear laser light emitsfirst laser rays, the second linear laser light emits second laser rays,the third linear laser light emits third laser rays, the fourth linearlaser light emits fourth laser rays, the first linear laser light, thesecond linear laser light, the third linear laser light, and the fourthlinear laser light are positioned such that the first laser rays, thesecond laser rays, the third laser rays, and the fourth laser raysdefine an area indicating the target position.
 11. The X-ray scanner ofclaim 5, wherein the actuator includes a first actuating unit and asecond actuating unit, the first actuating unit is configured to actuatethe first linear laser light, and the second actuating unit isconfigured to actuate the second linear laser light.
 12. The X-rayscanner of claim 11, wherein the first actuating unit includes a firsttransmission, the first transmission includes at least one of a geartransmission, a chain transmission, or a belt transmission, and thefirst linear laser light is connected with the first transmission. 13.The X-ray scanner of claim 12, wherein the first linear laser light isconnected with the first transmission through a first translation board.14. The X-ray scanner of claim 4, wherein the indicator includes a fifthlaser light, the fifth laser light is a point laser light or a crosslaser light, and the fifth laser light is adjustable by the translationor the swing such that the fifth laser light indicates the targetposition.
 15. The X-ray scanner of claim 14, wherein the actuatorincludes a third actuating unit and a fourth actuating unit, the thirdactuating unit is configured to actuate the fifth laser light to performthe translation, and the fourth actuating unit is configured to actuatethe fifth laser light to perform the swing.
 16. The X-ray scanner ofclaim 15, wherein the third actuating unit includes a secondtransmission and a second translation board, and the second translationboard is connected with the second transmission.
 17. The X-ray scannerof claim 16, wherein the fourth actuating unit includes a thirdtransmission and a rotation board, the third transmission includes agear transmission and an electric motor, the fifth laser light isconnected with the gear transmission, the gear transmission is connectedwith a first side of the rotation board, the electric motor is connectedwith a second side of the rotation board that is opposite to the firstside of the rotation board, and the rotation board is connected with thesecond translation board.
 18. The X-ray scanner of claim 17, wherein thegear transmission includes a driving gear and a driven gear, and thefifth laser light is connected with the driven gear.
 19. The X-rayscanner of claim 18, wherein the driving gear is connected with therotation board through an axis and is rotatable around the axis, thedriven gear is connected with the rotation board through a locating pininserted in an opening on the driven gear such that the fifth laserlight is rotatable along the opening.
 20. The X-ray scanner of claim 1,further comprising: a rangefinder configured to determine a distancebetween the target position and the detector.